李雅普诺夫和MIT两个MRAC案例的xcos模型

最新推荐文章于 2024-01-16 12:42:31 发布

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最新推荐文章于 2024-01-16 12:42:31 发布 · 1.9k 阅读

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这篇博客介绍了基于GitHub项目的几种工业控制方法，包括LQR、LQG、LQE等。重点讨论了模型参考自适应控制器（MRAC）的两种规则：MIT规则和Lyapunov规则，并提供了相应的仿真结果，表明Lyapunov规则在性能上优于MIT规则。所有模型均使用Scilab软件进行模拟和展示。

模型来源是GitHub上面的一个公开项目，里面包含了各种工业上的控制方法

Linear Quadratic Regulator (LQR) - For optimal systems

Linear Quadratic Gaussian (LQG) - With kalman filtering

Linear Quadratic Estimator (LQE) - Finding the kalman gain matrix

Generalized Predictive Controller (GPC) - For future prediction

Self Tuning Regulator (STR) - For deterministic systems

Minimum Variance Controller (MVC) - For heavy stochastical systems

Model Reference Adaptive Controller (MRAC) - For smooth reference tracking

Extended Least Square (ELS) - For estimate stochastical models e.g ARMAX models

Recursive Least Square (RLS) - For estimate transfer functions

项目地址为：DanielMartensson/Adaptive-Control: Adaptive control methods developed by Karl Johan Åström and Björn Wittenmark from the 70-80’s for industrial use