无模型自适应控制的现状与展望
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摘要
给出了无模型控制的定义,并对已存在的无模型控制方法进行了分类．综述了无模型自适应控制理论和方法的现状和进展．讨论了无模型自适应控制与其他控制方法的主要区别,提出了两种无模型自适应控制方法与已有基于模型的控制方法优势互补的模块化设计方案,提出了有待于进一步研究的问题．
The definition and classification are given for the several existing model-free control (MFC) methods. A brief review on the state of the art for the model-free adaptive control (MFAC) is presented and the difference between MFAC and other mainstream control methods is discussed in this paper. TWo practical modularized control system design schemes are proposed by adding MFAC into the existing model-based control schemes for enjoying the extra performance improvement from MFAC. Some prospective research topics are also listed in this work.
The definition and classification are given for the several existing model-free control (MFC) methods. A brief review on the state of the art for the model-free adaptive control (MFAC) is presented and the difference between MFAC and other mainstream control methods is discussed in this paper. TWo practical modularized control system design schemes are proposed by adding MFAC into the existing model-based control schemes for enjoying the extra performance improvement from MFAC. Some prospective research topics are also listed in this work.
引文
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[2] CHENG Shuxing G. Model-free adaptive process control:United Stales Patent, 6055524[P]. April 25, 2000. Washington:United States Patent and Trademark Office of the United States Department of Commerce.
[3] SPALL J C. Model-free control of nonlinear stochastic systems with discrete-time measurements [J]. IEEE Trans on Automatic Control, 1998,43(9):1198-1210.
[4] SPALL J C, CHIN D. Traffic responsive signal timing for system-wide traffic control [J]. Transportation Research C5, 1997, 5(3/4): 153-163.
[5] SILVA G J, DATTA A, BHATTACHARYYA S P. New results on the synthesis of PID controllers [J]. IEEE Trans on Automatic Control, 2002,47(2): 241-252.
[6]韩京清．控制理论——模型论还是控制论[J]．系统科学与数学, 1989,9(4):328—335．(HAN Jingqing. Control theory: model theory or control theory [J]. Systems Science and Mathmatics, 1989, 9(4): 328 - 335. )
[7]韩京清．非线性PID控制器[J]．自动化学报,1994,20(4):487—490．(HAN Jingqing. Nonlinear PID controller [J]. Acta Automatica Sinica, 1994, 20(4): 487 - 490.)
[8]韩京清,王伟．非线性跟踪微分器[J]．系统科学与数学,1994,4 (2):177-183．(HAN Jingqing, WANG Wei. Nonlinear tracking differential[J]. Systems Science and Mathmatics, 1994,4(2): 177-183.)
[9]韩京清．从PID技术到“自抗扰控制”技术[J]．控制工程,2002, 9(3):13—18 (HAN Jingqing. From PID to ADRC [J]. Control Engineering of China, 2002,9(3): 13-18.)
[10] ARIMOTO S, KAWAMURA S, MIYAZAKI F. Bettering operation of robots by learning [J]. J of Robotic Systems, 1984, 1(2): 123- 140.
[11] CHEN Yangquan, WEN Changyun. Iterative learning control: convergnece, robustness and applications [M]//Lecture Notes in Control and Information Sciences. Berlin: Springer-Verlag, 1999, Vol. 248.
[12] XU Jian-Xin, TAN Ying. Linear and nonloinear iterative learning control [M]//Lecture Notes in Control and Information Sciences. Berlin: Springer-Verlag, 2003, Vol.146.
[13]谢胜利,田森平,谢振东．迭代学习控制理论的理论与应用[M]．北京:科学出版社,2005．(XIE Shengli, TLAN Shenping, XIE Zhendong. Iterative Learning Control Theory and Applications [M]. Beijing: Science Press, 2005.)
[14] INOUE T, NAKANO M, IWAI S. High accuracy control of a proton synchrotron magnet power supply [C]//Proc of the 8th World Congress of IFAC[s.l.]: [s.n.], 1981: 216-221.
[15] LONGMAN R W. Iterative learning control and repetitive control for engineering practice [J]. Int J Control, 2000,73(10): 930 - 954.
[16]侯忠生．非线性系统参数辨识、自适应控制及无模型学习自适应控制[D]．沈阳:东北大学．1994．(HOU Zhongsheng. The parameter identification, adaptive control and model free learning adaptive control for nonlinear systems[D]. Shenyang: Northeastern University, 1994.)
[17]侯忠生,韩志刚．鲁棒的非线性系统无模型学习自适应控制[J]．控制与决策,1995,10(2):137-142．(HOU Zhongsheng, HAN Zhigang. Robust model free learning adaptive control for nonlinear systems [J]. Control and Decision, 1985, 10(2): 137-142.)
[18]侯忠生．无模型学习自适应控制理论[R]．哈尔滨:哈尔滨工业大学,1997．(HOU Zhongsheng. Model free learning adaptive control theory[R]. Harbin: Harbin Institute of Technology, 1997.)
[20]侯忠生,黄文虎．一类离散时间非线性系统不依赖受控系统数学模型的学习自适应控制[J]．控制理论与应用,1998,15(6): 893—899．
[19] HOU Zhongsheng, HUANG Wenhu. Model-free learning adaptive control of a class of SISO nonlinear systems [C]//Proc of American Control Conference. New Mexico: [s.n.], 1997: 343-344. (HOU Zhongsheng, HUANG Wenhu. The model-free learning adaptive control for a class of nonlinear discrete-time systems [J]. Control Theory & Applications, 1998, 15(6): 893 - 899. )
[21] HOU Zhongsheng, HAN Cunwu, HUANG Wenhu. The model-free learning adaptive control for a class of MISO nonlinear discrete-time systems [C]//Proc of the 5th IFAC Symp on Low Cost Automation. Shenyang: [s.n.], 1998: 13-26.
[22]侯忠生．非参数模型及其自适应控制理论[M]．北京:科学出版社, 1999．(HOU Zhongsheng. Nonparametric Models and Its Adaptive Control Theory [M]. Beijing: Science Press. 1999. )
[23] TAN K K. Adaptive predictive PI control of a class of SISO systems [C]//Proc of American Control Conference. California: [s.n.], 1999: 3848 - 3852.
[24] TAN K K, LEET H, HUANG S N, et al. Adaptive predictive control of a class of SISO nonlinear systems[J]. Dynamics and Control, 2001, 11(2): 151-174.
[25]韩志刚．无模型控制器的应用[J]．控制工程,2002,9(4):22—25．(HAN Zhigang. The application of model free controller [J]. Control Engineering of China, 2002, 9(4): 22-25. )
[26]韩志刚．无模型控制方法在化肥生产中的应用[J]．控制理论与应用,2004,21(6):858-863．(HAN Zhigang. Model free control law in the production of chemical fertilizer [J]. Control Theory & Applications, 2004, 21(6): 858-863.)
[27]王春蔚．基于无模型自适应控制理论的局部入口匝道控制系统研究[D]．北京:北京交通大学,2005．(WANG Chunwei. Studies on the model-free adaptive control based local ramp metering strategies[D]. Beijing: Beijing Jiaotong University, 2005.)
[28]周强,瞿伟廉．安装MR阻尼器工程结构的非参数模型自适应控制[J]．地震工程与工程振动,2004,24(4):127—132．(ZHOU Qiang, QU Weilian. Model-free learning adaptive semi-active control of structure with MR dampers [J]. Earthquake Engineering and Engineering Vibration, 2004, 24(4): 127-132. )
[29]刘纯国,隋振,付文智,等．板材多点成形过程的非参数模型及自适应控制[J]．控制工程,2004,11(4):306—308．(LIU Chunguo, SUI Zhen, FU Wenzhi, et al. Nonparametric model and adaptive control for multi-point forming process [J]. Control Engineering of China, 2004, 11(4): 306-308. )
[30] HJALMARSSON H, GUNNARSSON S, GEVERS M. Model-free tuning of a robust regulator for a flixible transmission system [J]. Europe J of Control, 1995, 1(2): 148-156.
[31] HJALMARSSON H, GEVERS M, GUNNARSON S, et al. Iterative feedback tuning: theory and applications [J]. IEEE Control Systems Magazine, 1998, 18(4): 26-41.
[32] HJALMARSSON H. Iterative feedback tuning: an overview [J]. Int J of Adaptive Control Signal Process, 2002, 16(5): 373 - 395.
[33] SAFONOV M G, TSAO T C. The unfalsified control concept and learning [J]. IEEE Trans on Automatic Control, 1997, 42(6): 843-847
[34] SAFONOV M G, TSAO T C. The unfalsified control concept: A direct path from experiment to controller[M]// FRANCIS B A, TAN-NENBAUM A R. Feedback Control, Nonlinear Systems and Complexity. New York: Springer-Verlag, 1995: 196-214.
[35]侯忠生,熊丹．带有无模型控制外环补偿的自适应控制系统设计[C]//第五届全球智能控制与智能自动化大会．杭州:IEEE出版杜,2004,6(1):444—448．(HOU Zhongsheng, XIONG Dan. The adaptive control system design with a model-free external loop as a compensator [C]//Proc of the 5th World Congress on Intelligent Control and Automation. Hangzhou, China: IEEE Press, 2004,6(1): 444- 448.)
[36]熊丹．基于无模型控制外环补偿的控制系统模块化设计研究[D]．北京:北京交通大学,2004．(XIONG Dan. The modularized control system design with a model-free controller external loop as a compensator[D]. Beijing: Beijing Jiaotong University, 2004.)
[2] CHENG Shuxing G. Model-free adaptive process control:United Stales Patent, 6055524[P]. April 25, 2000. Washington:United States Patent and Trademark Office of the United States Department of Commerce.
[3] SPALL J C. Model-free control of nonlinear stochastic systems with discrete-time measurements [J]. IEEE Trans on Automatic Control, 1998,43(9):1198-1210.
[4] SPALL J C, CHIN D. Traffic responsive signal timing for system-wide traffic control [J]. Transportation Research C5, 1997, 5(3/4): 153-163.
[5] SILVA G J, DATTA A, BHATTACHARYYA S P. New results on the synthesis of PID controllers [J]. IEEE Trans on Automatic Control, 2002,47(2): 241-252.
[6]韩京清．控制理论——模型论还是控制论[J]．系统科学与数学, 1989,9(4):328—335．(HAN Jingqing. Control theory: model theory or control theory [J]. Systems Science and Mathmatics, 1989, 9(4): 328 - 335. )
[7]韩京清．非线性PID控制器[J]．自动化学报,1994,20(4):487—490．(HAN Jingqing. Nonlinear PID controller [J]. Acta Automatica Sinica, 1994, 20(4): 487 - 490.)
[8]韩京清,王伟．非线性跟踪微分器[J]．系统科学与数学,1994,4 (2):177-183．(HAN Jingqing, WANG Wei. Nonlinear tracking differential[J]. Systems Science and Mathmatics, 1994,4(2): 177-183.)
[9]韩京清．从PID技术到“自抗扰控制”技术[J]．控制工程,2002, 9(3):13—18 (HAN Jingqing. From PID to ADRC [J]. Control Engineering of China, 2002,9(3): 13-18.)
[10] ARIMOTO S, KAWAMURA S, MIYAZAKI F. Bettering operation of robots by learning [J]. J of Robotic Systems, 1984, 1(2): 123- 140.
[11] CHEN Yangquan, WEN Changyun. Iterative learning control: convergnece, robustness and applications [M]//Lecture Notes in Control and Information Sciences. Berlin: Springer-Verlag, 1999, Vol. 248.
[12] XU Jian-Xin, TAN Ying. Linear and nonloinear iterative learning control [M]//Lecture Notes in Control and Information Sciences. Berlin: Springer-Verlag, 2003, Vol.146.
[13]谢胜利,田森平,谢振东．迭代学习控制理论的理论与应用[M]．北京:科学出版社,2005．(XIE Shengli, TLAN Shenping, XIE Zhendong. Iterative Learning Control Theory and Applications [M]. Beijing: Science Press, 2005.)
[14] INOUE T, NAKANO M, IWAI S. High accuracy control of a proton synchrotron magnet power supply [C]//Proc of the 8th World Congress of IFAC[s.l.]: [s.n.], 1981: 216-221.
[15] LONGMAN R W. Iterative learning control and repetitive control for engineering practice [J]. Int J Control, 2000,73(10): 930 - 954.
[16]侯忠生．非线性系统参数辨识、自适应控制及无模型学习自适应控制[D]．沈阳:东北大学．1994．(HOU Zhongsheng. The parameter identification, adaptive control and model free learning adaptive control for nonlinear systems[D]. Shenyang: Northeastern University, 1994.)
[17]侯忠生,韩志刚．鲁棒的非线性系统无模型学习自适应控制[J]．控制与决策,1995,10(2):137-142．(HOU Zhongsheng, HAN Zhigang. Robust model free learning adaptive control for nonlinear systems [J]. Control and Decision, 1985, 10(2): 137-142.)
[18]侯忠生．无模型学习自适应控制理论[R]．哈尔滨:哈尔滨工业大学,1997．(HOU Zhongsheng. Model free learning adaptive control theory[R]. Harbin: Harbin Institute of Technology, 1997.)
[20]侯忠生,黄文虎．一类离散时间非线性系统不依赖受控系统数学模型的学习自适应控制[J]．控制理论与应用,1998,15(6): 893—899．
[19] HOU Zhongsheng, HUANG Wenhu. Model-free learning adaptive control of a class of SISO nonlinear systems [C]//Proc of American Control Conference. New Mexico: [s.n.], 1997: 343-344. (HOU Zhongsheng, HUANG Wenhu. The model-free learning adaptive control for a class of nonlinear discrete-time systems [J]. Control Theory & Applications, 1998, 15(6): 893 - 899. )
[21] HOU Zhongsheng, HAN Cunwu, HUANG Wenhu. The model-free learning adaptive control for a class of MISO nonlinear discrete-time systems [C]//Proc of the 5th IFAC Symp on Low Cost Automation. Shenyang: [s.n.], 1998: 13-26.
[22]侯忠生．非参数模型及其自适应控制理论[M]．北京:科学出版社, 1999．(HOU Zhongsheng. Nonparametric Models and Its Adaptive Control Theory [M]. Beijing: Science Press. 1999. )
[23] TAN K K. Adaptive predictive PI control of a class of SISO systems [C]//Proc of American Control Conference. California: [s.n.], 1999: 3848 - 3852.
[24] TAN K K, LEET H, HUANG S N, et al. Adaptive predictive control of a class of SISO nonlinear systems[J]. Dynamics and Control, 2001, 11(2): 151-174.
[25]韩志刚．无模型控制器的应用[J]．控制工程,2002,9(4):22—25．(HAN Zhigang. The application of model free controller [J]. Control Engineering of China, 2002, 9(4): 22-25. )
[26]韩志刚．无模型控制方法在化肥生产中的应用[J]．控制理论与应用,2004,21(6):858-863．(HAN Zhigang. Model free control law in the production of chemical fertilizer [J]. Control Theory & Applications, 2004, 21(6): 858-863.)
[27]王春蔚．基于无模型自适应控制理论的局部入口匝道控制系统研究[D]．北京:北京交通大学,2005．(WANG Chunwei. Studies on the model-free adaptive control based local ramp metering strategies[D]. Beijing: Beijing Jiaotong University, 2005.)
[28]周强,瞿伟廉．安装MR阻尼器工程结构的非参数模型自适应控制[J]．地震工程与工程振动,2004,24(4):127—132．(ZHOU Qiang, QU Weilian. Model-free learning adaptive semi-active control of structure with MR dampers [J]. Earthquake Engineering and Engineering Vibration, 2004, 24(4): 127-132. )
[29]刘纯国,隋振,付文智,等．板材多点成形过程的非参数模型及自适应控制[J]．控制工程,2004,11(4):306—308．(LIU Chunguo, SUI Zhen, FU Wenzhi, et al. Nonparametric model and adaptive control for multi-point forming process [J]. Control Engineering of China, 2004, 11(4): 306-308. )
[30] HJALMARSSON H, GUNNARSSON S, GEVERS M. Model-free tuning of a robust regulator for a flixible transmission system [J]. Europe J of Control, 1995, 1(2): 148-156.
[31] HJALMARSSON H, GEVERS M, GUNNARSON S, et al. Iterative feedback tuning: theory and applications [J]. IEEE Control Systems Magazine, 1998, 18(4): 26-41.
[32] HJALMARSSON H. Iterative feedback tuning: an overview [J]. Int J of Adaptive Control Signal Process, 2002, 16(5): 373 - 395.
[33] SAFONOV M G, TSAO T C. The unfalsified control concept and learning [J]. IEEE Trans on Automatic Control, 1997, 42(6): 843-847
[34] SAFONOV M G, TSAO T C. The unfalsified control concept: A direct path from experiment to controller[M]// FRANCIS B A, TAN-NENBAUM A R. Feedback Control, Nonlinear Systems and Complexity. New York: Springer-Verlag, 1995: 196-214.
[35]侯忠生,熊丹．带有无模型控制外环补偿的自适应控制系统设计[C]//第五届全球智能控制与智能自动化大会．杭州:IEEE出版杜,2004,6(1):444—448．(HOU Zhongsheng, XIONG Dan. The adaptive control system design with a model-free external loop as a compensator [C]//Proc of the 5th World Congress on Intelligent Control and Automation. Hangzhou, China: IEEE Press, 2004,6(1): 444- 448.)
[36]熊丹．基于无模型控制外环补偿的控制系统模块化设计研究[D]．北京:北京交通大学,2004．(XIONG Dan. The modularized control system design with a model-free controller external loop as a compensator[D]. Beijing: Beijing Jiaotong University, 2004.)
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