For a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the design and analysis of robust indirect model reference adaptive control （MRAC） with normalized adaptive law are investigated. The main work includes three parts. Firstly, it is shown that the constructed parameter estimation algorithm not only possesses the same properties as those of traditional estimation algorithms, but also avoids the possibility of division by zero. Secondly, by establishing a relationship between the plant parameter estimate and the controller parameter estimate, some similar properties of the latter are also established. Thirdly, by using the relationship between the normalizing signal and all the signals of the closed-loop system, and some important mathematical tools on discrete-time systems, as in the continuous-time case, a systematic stability and robustness analysis approach to the discrete indirect robust MRAC scheme is developed rigorously.
This paper investigates the problem of output-feedback control for a class of more general stochastic high-ord...
Xue-Jun Xie~1,Liang Liu~2 1.School of Electrical Engineering & Automation,Xuzhou Normal University,Xuzhou,Jiangsu Province,221116,China 2.Institute of Automation,Qufu Normal University,Qufu 273165,China
＜正＞This paper considers a concrete stochastic nonlinear systems with stochastic unmeasurable inverse dynamic.M...
Na Duan~1,Xin Yu~2,Xue-Jun Xie~1 1.School of Electrical Engineering & Automation,Xuzhou Normal University,Xuzhou,Jiangsu Province,221116,China 2.School of Automation,Southeast University,Nanjing,Jiangsu Province,210096,China
This paper presents an improved observer-based indirect adaptive fuzzy control scheme for multiinput-multioutput (MIMO) nonlinear time-delay systems.The control scheme synthesizes adaptive fuzzy control with adaptive fuzzy identification.An observer is designed to observe the system state,and an identifier is developed to identify the unknown parts of the system.The update laws for parameters utilize two types of errors in the adaptive time-delay fuzzy logic systems,the observation error and the identification error.Performance analysis proves the superiority of the update laws in terms of faster and improved tracking and parameter convergence.Simulation results of two-link manipulator demonstrate the effectiveness of the improved control scheme.
In this paper,the problem of adaptive tracking for a class of stochastic Hamiltonian control systems with unkn...
WU Zhaojing~(1,2),CUI Mingyue~1 1.School of Mathematics and Informational Science,Yantai University,Yantai,Shandong Province,264005,P.R.China 2.Institute of Automation,Qufu Normal University,Qufu,Shandong Province,273165,P.R.China
