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1、Vol.31,No.2ACTAAUTOMATICASINICAMarch,2005MultivariableAdaptiveDecouplingControllerUsingHierarchicalMultipleModels1)WANGXin1LIShao-Yuan1YUEHeng21(InstituteofAutomation,ShanghaiJiaotongUniversity,Shanghai200030)2(ResearchCenterofAutomation,NortheasternUniversity,Shenyang110004)(E-mail:wangxin26@s
2、jtu.edu.cn)AbstractTosolvetheproblemsuchastoomanymodels,longcomputingtimeandsoon,ahierarchicalmultiplemodelsdirectadaptivedecouplingcontrollerisdesigned.Itconsistsofmultiplelevels.Intheupperlevel,thebestmodelischosenaccordingtotheswitchingindex.Thenmultiplefixedmodelsareconstructedonlinetocovert
3、heregionwhichtheabovechosenfixedmodelliesin.Inthelastlevel,onefree-runningandonere-initializedadaptivemodelareaddedtoguaranteethestabilityandimprovethetransientresponse.Byselectionoftheweightingpolynomialmatrix,itnotonlyeliminatesthesteadyoutputerrorandplacesthepolesoftheclosedloopsystemarbitrar
4、ily,butalsodecouplesthesystemdynamically.Atlast,forthismultiplemodelsswitchingsystem,globalconvergenceisobtainedundercommonassumptions.Comparedwiththeconventionalmultiplemodelsadaptivecontroller,itreducesthenumberofthefixedmodelsgreatly.Ifthesamenumberofthefixedmodelsisused,thesystemtransientresp
5、onseanddecouplingresultareimproved.Thesimulationexampleillustratesthepowerofthederivedcontroller.KeywordsMultiplemodels,hierarchical,directadaptivecontrol,decoupling,poleplacement1IntroductionItisknownthatasystemwithunknowntimeinvariantorslowlytimevaryingparameterscangetgoodperformancebyusingan
6、adaptivecontroller.Butwhenthesystemboundaryconditionchanges,thesubsystemfails,orlargeexternaldisturbancepresents,theparametersofthesystemwill[1]changeabruptlyandlargeparametererrorswillgenerallyresultinpoortransientresponse.Tosolvetheseproblems,multiplemodelsadaptivecontroller(MMAC)wasproposed.
7、Foracontinuoustimesystem,Narendraetal.usedmultipleadaptivemodelstoidentifytheunknownsystemparameters[2]simultaneously.Thesemodelswereofdifferentinitialvaluesandwereusedtocovertheregionwherethesystemparameterschanged.Atanyinstantone
