摘要
基于popov超稳定理论 ,采用滤波器降阶的方法 ,设计了一种高阶系统跟踪低阶参考模型的模型参考自适应控制 (MRAC)方案。使用低阶参考模型简化了系统结构 ,应用到机械手伺服系统中 。
Basing on popov hyper stable theory and adopting diminution order method by filter,a model reference adaptive control scheme has been designed for high order system following the low order model.The system structure has been simplified by using low order model.It has been used in robot arm servo system,the effective has been tested.
出处
《自动化与仪器仪表》
2002年第2期9-11,共3页
Automation & Instrumentation
