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研究了基于MT-滤波器的连续自适应反推控制的数字实现问题.首先用δ-算子将连续系统离散化,利用MT-滤波器和反推设计方法给出了自适应反推控制器的设计,然后分别分析了离散和混杂自适应控制系统的稳定性和跟踪性能.同已有文献相比,本文的主要工作在于:1)基于MT-滤波器的离散自适应反推控制器的设计;2)误差系统状态向量的构造.由于MT-滤波器的阶次比K-滤波器的阶次低,因此,误差系统的构造更加复杂,这也使得适应系统的稳定性分析更加困难.
The digital realization of continuous adaptive backstepping control based on MT-filter is studied.Firstly, δ-operator is used to discretize the continuous system and the adaptive backstepping controller is given by using MT-filter and backstepping design method Then the stability and tracking performance of the discrete and hybrid adaptive control system are analyzed separately.Compared with the existing literature, the main work of this paper is as follows: 1) Discrete adaptive backstepping controller based on MT-filter Design of the error system state vector The structure of the error system is more complicated due to the lower order of the MT-filter than the K-filter, which makes it more difficult to adapt the stability analysis of the system.