This paper proposes an observer based sampled-data model-free adaptive control method,which extends the model-free adaptive control from discrete-time systems to contin-uous-time systems.A dynamic linearization method is proposed to transform a class of high-order nonlinear affine continuous-time systems into a nonlinear affine input-output data mod-el based on sampled data.The uncertainty and unknown nonlinearity of the system are transformed into unknown time-varying parameter vectors and nonlinear residual terms,which are estimated and compensated by the designed parameter adaptive update law and ex-tended state observer,respectively.Therefore,a new adaptive control law for sampled data is proposed,which includes the sampling period and more input and output information of past moments,and thus can improve the control performance of the system.Simulation re-sults verify the effectiveness of the proposed method.
关键词
连续时间系统/无模型自适应控制/采样数据控制/扩展状态观测器
Key words
continuous-time systems/model-free adaptive control/sampled-data control/ex-tended state observer
维普
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