【摘要】 就对象含未建模动态且其建模部分相对阶大于 1时的变结构模型参考自适应控制( VS- MRAC)系统 ,提出了一种鲁棒低增益变结构控制方案 ,特点是系统变结构律在低增益状态下仍可保证所有辅助误差均在有限时间内收敛到零 ,从而提高了系统跟踪精度 .此外 ,还研究了平均值滤波器对系统稳定性的影响更多还原

【Abstract】 In this paper, a new VS MRAC scheme is proposed for plants with modeled part of relative degrees greater than one. The main feature of the scheme is that all the auxiliary errors can converge to zero in a finite time with a low variable structure control gain so that a higher tracking precision is obtained. Furthermore, the influence of averaging filters on system stability has been further investigated.更多还原