31

Thit k iu khin
thch nghi v phi tuyn
Maruthi R.Akella
The University of Texas at Austin
31.1 Gii thiu ............................................................ 1
31.2 L thuyt Lyapunov v h bt bin vi thi gian
.......................................................................................... 2
31.3 nh l Lyapunov i vi h bin i theo thi
gian ................................................................................... 3
31.4 L thuyt iu khin thch nghi .......................... 4
31.5 Cc h thng iu khin thch nghi phi tuyn .... 7
31.6 V d v iu chnh thch nghi t th bay cho tu
v tr ................................................................................ 9
31.7 iu khin thch nghi phn hi u ra .............. 11
31.8 Cc b quan st thch nghi v iu khin phn
hi u ra ........................................................................ 12
31.9 Nhn xt ............................................................ 13
31.1 Gii thiu
Thch thc ln nht cho l thuyt iu khin hin i l em li s thc hin c th chp nhn
c trong khi gii quyt cc m hnh khng r, phi tuyn cao, v cc cm bin gi r di mt
s iu kin hot ng khc nhau. Cc kh khn khng ch gp cc lp n l ca h thng v
chng xut hin khng r trong cc ng dng cng nghip. Lc no cng vy, cc h thng ny
lun cha mt s lng ln m hnh v tham s khng xc nh (lun thay i) v vy b iu
khin c nh khng th tip tc t c s n nh v cc ch tiu cht lng. Khng c li
gii hp l no cho bi ton nh vy m em li s ha hp gia l thuyt iu khin phi tuyn,
cc thnh phn thch nghi, v x l thng tin. Cc tha s ng sau s xut hin v pht trin ca
lnh vc iu khin thch nghi, thc y mnh m cc ng dng thc t nh l iu khin qu trnh
ha hc v thit k my li t ng cho my bay, chng hot ng n nh, c chng t qua s
a dng ca tc v cao.
Mt nh ngha c chp nhn rng ri i vi h thng thch nghi l: n l mt h vt l
c thit k trn quan im thch nghi [1]. Tt c tnh n nh hin nay v cc kt qu hi t,
1
S tay C in t
trong lnh vc l thuyt iu khin thch nghi, xoay quanh gi thit chnh l cc tham s cha
bit phi xut hin tuyn tnh trong m hnh cha cc c tnh phi tuyn bit. Da trn cc khi
nim, trong sut qu trnh to nn tham s t c lng nh l cc bin trng thi, v vy s m
rng chiu khng gian trng thi ca h thng ban u. Mt cch t nhin, li gii cho bi ton
iu khin thch nghi i vi c h ng hc tuyn tnh v phi tuyn u dn n cng thc bin
i theo thi gian mt cch phi tuyn trong s c lng ca cc tham s cha bit c cp
nht s dng d liu vo ra. Mt phng php thch nghi tham s (ch yu l phi tuyn) c s
dng cp nht cc tham s trong lut iu khin. Thm ch tnh phi tuyn da vo phn hi
thch nghi, cn chc chn rng tnh n nh ca h kn c duy tr. V vy mt thc t hin nhin
l lnh vc iu khin thch nghi v tnh n nh ca h phi tuyn thc cht u lin quan n mt
vn v mi kt qu nghin cu trong lnh vc ny u thun li cho vic nghin cu lnh vc
kia. Nhiu cng thc trong l thuyt v tnh n nh phi tuyn c th c tn dng nh l phng
php trc tip Lyapunov v cc phng php da trn th ng (passivity-based methods). Chng
ta s trnh by cc kin thc ton hc quan trng v cc cng c phn tch trc nghin cu tnh
n nh ca h ng hc phi tuyn.
31.2 L thuyt Lyapunov v h bt bin vi thi gian
Phng php trc tip Lyapunov l mt trong nhng phng php ph bin nht c chp
nhn rng ri chng minh tnh n nh ca h kn trong phm vi iu khin thch nghi. N
khng b hn ch v phm vi h thng
( ), (0) 0 x f x f &
(31.1)
R rng
( ) 0 x t
l mt nghim. iu kin tn ti duy nht nghim phng trnh (31.1)
l
( ) f x
b chn (locally Lipschitz), tc l,
( ) ( ) f x f y L x y
(31.2)
vi mi x v y trong ln cn im ban u. Chng ta cn nghim phng trnh (31.1) n nh vi
s c mt ca nhiu. Trc khi trnh by v nh l nh ca Lyapunov, ta trnh by mt s nh
ngha quan trng.
nh ngha: n nh Lyapunov
Nghim x(t) = 0 ca phng trnh (31.1) c gi l n nh theo tin chun Lyapunov nu vi
mi 0 > , lun tn ti
( ) 0 >
sao cho tt c cc iu kin tha mn
(0) x <
ta lun c
(0) x <
vi
[0, ) t
. Nghim l n nh tim cn nu n l n nh ti v lun tn ti
0 > sao cho tt c cc iu kin u tha mn
(0) x <
ta lun c tnh cht
lim ( ) 0
t
x t

Nghim l n nh tim cn ton cc nu n n nh tim cn ti tt c cc iu kin u. Cc

nh ngha ny lin quan n s n nh ca cc nghim ring ca phng trnh (31.1) vi iu
kin u v khng n nh vi cc phng trnh vi phn.
nh ngha: Hm xc nh dng v hm bn xc nh dng
Mt hm lin tc V:
n
R R >
c gi l hm xc nh dng nu (i)
(0) 0 V
v (ii)
( ) 0 V x >
vi mi 0 x . Mt hm l bn xc nh dng nu iu kin (ii) c thay bng
( ) 0 V x
vi mi 0 x .
nh l: nh l v tnh n nh ca Lyapunov cho h bt bin vi thi gian
2
Thit k iu khin thch nghi v phi tuyn
Nu lun tn ti mt hm xc nh dng V:
n
R R >
sao cho o hm theo thi gian ca V
vi nghim
( ) x f x
g
c cho bi
( )
T T
d V V
V x f x
dt x x
1 1

1 1

] ]
&
l bn xc nh m, khi nghim
( ) 0 x t
ca phng trnh (31.1) l n nh. Trong trng hp
ny, nghim hi t trong min
n
{x R : ( ) 0} V x
g
. Nu
V

l xc nh m, khi nghim s
l n nh tin cn. Hn na, nu
V

l xc nh m v
( ) V x >
khi
x >
, khi nghim l
n nh tim cn ton cc. Hm
( ) V x
c gi l hm Lyapunov cho h c miu t trong
phng trnh (31.1).
Nhn xt: nh l Lyapunov, mc d i t trng thi n gin, nhng c ng dng rt ln
trong vic phn tch tnh n nh ca h phi tuyn. Tuy nhin, v nh l ny ch cung cp iu
kin di dng hm Lyapunov, nn chng ta thng gp phi vn kh trong vic i tm hm
Lyapunov ph hp. Trong trng hp c bit khi phng trnh (31.1) l mt h tuyn tnh n
nh,
m
x A x &
mt hm Lyapunov ton phng
T
V x Px tn ti khi P l mt ma trn xc nh dng i xng
tha mn phng trnh c gi l phng trnh Lyapunov
T
m m
A P PA Q + (31.3)
vi Q l mt ma trn xc nh dng i xng bt k. Ngoi ra, khng cn cch tng qut no
xy dng hm Lyapunov cho h phi tuyn. Ging nh quy tc ngn tay ci, trong trng hp l
cc h c kh, u tin cn xc nh cc i lng kiu nng lng.
31.3 nh l Lyapunov i vi h bin i theo thi gian
By gi chng ta xt tnh n nh ca nghim phng trnh vi phn bin i theo thi gian
(nonautonomous)
( , ), (0, ) 0 0 x g x t g t t &
(31.14)
Hm g c gi thit l lin tc trn tng on i vi t v b chn Lipschitz (locally Lipschitz)
vi ln cn nghim
( ) 0 x t
. iu ny m bo s khi to trng thi cn bng ca phng trnh
(31.4). nghin cu v tnh n nh cn bng ca h thng khng dng (nonautonomous), phi
nhn ra rng mi nghim ca phng trnh (31.4) khng nhng ph thuc vo thi gian
t
m cn
ph thuc vo thi gian khi to
0
t
. V vy, chng ta cn xem li nh ngha v tnh n nh trc
y.
nh ngha: Tnh n nh bt bin Lyapunov
Nghim x(t)=0 ca phng trnh (31.4) l n nh bt bin nu vi mi 0 > , lun tn ti
( ) 0 >
khng ph thuc vo thi gian khi to t0 tc l:
0 0
( ) ( ) 0 x t x t vi t t < <
3
S tay C in t
Nghim l n nh tim cn bt bin nu n l n nh bt bin v mt hng s dng

khng ph thuc vo t0 tc l
( ) 0 x t >
khi
t >
vi mi
0
( ) x t <
. Nghim l n nh tim
cn bt bin ton cc nu n l n nh tim cn bt bin vi mi iu kin u.
nh l v tnh n nh cho h phi tuyn khng dng yu cu xc nh lp hm K xc nh.
nh ngha: Lp hm K
Mt hm lin tc
: [0,a) [0, )
c gi l thuc lp hm K nu n n iu tng v
(0) 0
. N c gi l thuc lp hm
K

, hay tin ti v cng, nu

a
lun tn ti
( ) r
khi
r
.
nh l: nh l v s n nh ca Lyapunov cho h bin i vi thi gian
Xt min
n
{x R : } D x R
cn bng vi
(0) 0 x
ca phng trnh (31.4). Nu lun tn
ti mt hm v hng :
n
V R xR R
+
vi cc o hm ring lin tc tc l
i.
1 2
( ) ( , ) ( ) x V x t x
xc nh dng v gim
ii.
3
( , ) ( )
T
V V
V g x t x
t x

1
+
1

]
&
vi mi 0 t , trong
1

,
2

v
3

l lp hm K, khi im cn bng 0 x l n nh tim

cn bt bin.
Nhn xt: Ch rng trnh by tnh n nh ca h ph tuyn khng dng, cn gii hn hm
( , ) V x t
bi cc lp hm K khng ph thuc vo thi gian t. Mt cch gii quyt chi tit ca tt c
cc nh ngha v chng minh ca nh l ny bn c c th xem trong Slotine v Li [2] v Khalil
[3].
Nhn xt: Trong nhng nm gn y, nh l o Lyapunov t c mt s kt qu tt. C
th l tt c cc h thng n nh bt bin (hoc n nh tim cn bt bin), lun tn ti mt hm
Lyapunov xc nh dng c o hm theo thi gian l bn xc nh m (xem Sastry v Bodson
[4]). Cc kt qu ny rt hu ch cho cht lng ca h kn bi v n cho php c lng mt cch
r rng cc tc hi t cho nhiu trng hp ca h iu khin thch nghi phi tuyn.
ng dng ca nh l n nh ca Lyapunov cho h khng dng vt ra khi iu khin thch
nghi, n thng dn n o hm bn xc nh m ca hm Lyapunov. V vy, vic phn tch tnh
n nh tim cn l mt bi ton kh hn nhiu v kt qu sau y, c coi nh l b Barbalat,
rt hu ch cho trng hp ny.
B : Barbalat
Xt mt hm lin tc bt bin
: R R
tp xc nh l tt c cc gi tr thc 0 t . Nu
0
lim ( )
t
t
s ds

tn ti v c gii hn, th
( ) 0 t
khi
t
.
Nhn xt: Mt h qu ca b ny l nu
2 L
v
L

, th
( ) 0 t
khi
t
(Xem
Slotine v Li [2] v Tao [3] xem trnh by v chng minh).
31.4 L thuyt iu khin thch nghi
Khc vi mt b iu khin c nh (fixed) hay b iu khin truyn thng, mt b iu khin
thch nghi l mt b iu khin c cc tham s c th chnh c v mt c ch iu chnh. Sau
y l cc khi nim c bn cn cho mi trnh by v l thuyt iu khin thch nghi.
4
Thit k iu khin thch nghi v phi tuyn
Bi ton iu chnh v bi ton iu khin bm
Mc ch ca mi bi ton iu khin l duy tr gi tr u ra lun gi mt gi tr mong mun
hoc nm trong gii xc nh (c th chp nhn c) ca gi tr mong mun. Nu cc gi tr
mong mun ny l hng s vi thi gian, th chng ta c bi ton iu khin iu chnh, cn li l
bi ton iu khin bm.
Nguyn l tng ng chc chn (Certainty Equivalence Principle)
Nguyn tc ny l nn tng ca hu ht cc phng php thit k iu khin thch nghi v
nhn c v tr to ln trong hai thp k qua [4, 6, 7]. B iu khin thch nghi da trn phng
php ny c c bng cch thit k mt lut iu khin c lp t c mc ch iu khin
gi thit l bit tt c cc tham s ca m hnh cha bit (trng hp tin nh), cng vi mt
lut cp nht tham s, thng l mt phng trnh vi phn to ra cc c lng tham s trc
tuyn s dng thay th cc tham s cha bit trong lut iu khin. Nh l mt b iu khin
hon thin vi kh nng bm u ra trong trng hp cc tham s m hnh bit chnh xc. Hin ti
cha xc nh c cc tham s, c cu chnh nh s chnh cc tham s b iu khin sao cho
mc nh bm c thit k mt cch tim cn. Vn ch yu trong thit k b iu khin thch
nghi l to ra c cu chnh nh (lut cp nht tham s) n s m bo rng h thng iu khin
vn n nh v sai lch bm u ra hi t v 0 khi cc gi tr tham s c cp nht.
iu khin thch nghi trc tip v thch nghi gin tip
C hai phng php khc nhau trong iu khin thch nghi cho cc m hnh c cha cc tham
s cha bit hay cha xc nh. Phng php th nht c gi l phng php trc tip, cc
tham s ca b iu khin c chnh trc tip bi c cu thch nghi bng cch ti u cc ch tiu
cht lng xc nh c trc da trn u ra. Phng php th 2 l phng php gin tip,
cc tham s m hnh c c lng trc tip v c cp nht bng lut thch nghi v cc gi tr
c c lng ny th c s dng tnh ton cc tham s b iu khin. iu khin thch
nghi trc tip khng cn thm s tnh ton ny. Do , iu khin thch nghi gin tip l thch nghi
tham s m hnh, ngc li iu khin thch nghi trc tip l thch nghi kt qu u ra. Qu trnh
nhn dng tham s m hnh trong phng php gin tip l hin (explicit) trong khi trong
phng php trc tip l ngm (khng r rng). V vy, chng cn c gi l phng php ngm
v phng php hin. Trong c hai trng hp ny th cu trc b iu khin vn ging nhau v
c xc nh t nguyn tc cn bng iu ho.
iu khin thch nghi c m hnh tham chiu
Cu trc bi ton iu khin MRAC (Model Reference Adaptive Control) gm 4 phn: (i) m
hnh cha cc tham s cha bit, (ii) m hnh theo di ph hp xc nh cc c tnh u ra
mong mun, (iii) mt lut iu khin phn hi cha cc tham s c th iu chnh, v (iv) mt c
cu thch nghi cp nht cc tham s c th chnh vi lut iu khin trn. Nh hnh 31.1.
M hnh i tng c gi thit l c cu trc bit vi cc tham s cha bin. Trong
trng hp cc h tuyn tnh, ngha l s im cc v im khng gi thit l bit, nhng v tr
chnh xc ca cc im cc v im khng th cha bit. i vi h phi tuyn, cu trc ca cc
phng trnh nh hng n chuyn ng c gi thit l bit, nhng mt vi tham s xut
hin tuyn tnh trong cc phng trnh ny th cha bit. M hnh theo di xc nh u ra l
tng nhn c t m hnh l mt kt qu ca u vo tham chiu ngoi. N cung cp p ng
ca m hnh l tng cho c cu thch nghi tm bm theo trong khi cp nht tham s c lng.
Chn m hnh theo di l trng tm ca thit k MRAC v mi s la chn c th chp nhn
v c bn phi tho mn hai yu cu. Yu cu th nht l m hnh theo di phi phn nh chnh
xc cc ch tiu cht lng ca h kn. nh l rise time, setting time, qu iu chnh (overshoot)
5
S tay C in t
v cc ch tiu cht lng khc. Yu cu th hai c gi thit l cu trc ng hc m hnh, hot
ng u ra m hnh tham chiu nn c thit k tim cn bi h thng iu khin thch nghi dn
n phi cn thm cc iu kin v quan h ca m hnh tham chiu v cc iu kin kch thch
lin tc trn u vo tham chiu. Cu trc b iu khin c ra lnh bng nguyn l tng ng
chc chn v c 2 th tc cp nht tham s trc tip v gin tip u c th c chn vi m hnh
iu khin MRAC. Phng php ny gii quyt c rt nhiu bi ton vi h lin tc.
Hnh 31.1 Cu trc iu khin thich nghi c m hnh tham chiu
Hnh 31.2 Cu trc ca b iu khin t chnh
B iu khin t chnh (STC)
Tri vi iu khin MRAC, khng c m hnh trong thit k b iu khin t chnh. Biu
ca thit k STC nh hnh 31.2. Trong cng thc ny, cc thng s ca tham s h thng c c
lng trong thi gian thc, ph thuc vo n l phng php trc tip hay gin tip. Cc c
lng ny v th m c s dng nh l chng bng cc tham s thc (thit k tng ng
chc chn). Vic c lng tham s bao hm vic tm ra b tham s ph hp nht da trn d liu
vo/ra ca h thng. iu ny th khc vi kiu thch nghi tham s MRAC c lng tham s
c cp nht bng cch thit k bm tim cn sai lnh gia h thng tht v m hnh theo di.
Trong nhiu trng hp phng php c lng STC, cng c th nh gi tiu chun cht
lng ca vic c lng tham s, n c s dng trong thit k b iu khin. Nhiu s kt hp
khc nhau ca cc phng php c lng c chp nhn v cung cp cho c h lin tc v h
ri rc. Do c s tch bit gia c lng tham s v iu khin trong STC, nn linh hot hn
trong thit k. Tuy nhin, tnh n nh v s hi t th kh chng minh v cc iu kin kht khe
hn v yu cu ca cc tn hiu u vo (kch thch lin tc) m bo hi t tham s. Nh
ni trn, thit k STC xut hin trong vic nghin cu bi ton iu chnh ngu nhin v
nhiu l thuyt dnh cho h ri rc s dng phng php gin tip. Mc d dng nh c s khc
6
Thit k iu khin thch nghi v phi tuyn
nhau gia MRAC v STC, nhng mt s tng ng trc tip tn ti gia cc bi ton t 2 min
trn.
31.5 Cc h thng iu khin thch nghi phi tuyn
i vi hu ht cc trng hp tng qut ca h phi tuyn, c rt nhiu l thuyt b gii hn
bi lnh vc iu khin thch nghi. Thm ch lnh vc ny rt c quan tm nh vo cc ng
dng tim nng trong s a dng ca cc h c phc tp. Nhiu kh khn trong nghin cu l
thuyt tn ti bi v thiu cc cng c phn tch tng qut. Tuy nhin, cc trng hp c bit
quan trng s c trnh by y, v chng ta tng kt cc iu kin m cc lp h thng tha
mn:
1. Cc tham s cha bit trong h phi tuyn c tham s ho mt cch tuyn tnh
2. Vec t trng thi hon ton o c
3. Khi cc tham s cha bit c gi thit l bit, u vo iu khin c th b qua tt
c cc tnh cht phi tuyn theo hng tuyn tnh ha phn hi v cc thnh phn ng
hc bn trong cn li phi n nh. Sau thit k thch nghi thc hin c bng
nguyn l tng ng tuyt i.
By gi chng ta gii thiu mt phng php MRAC in hnh gii quyt trng hp m
hnh h phi tuyn khng bit cc tham s bn trong n. Xt h phi tuyn
( ) x f x u + &
(31.5)
trong l mt tham s ma trn hng cha bit, v f l mt hm vec t phi tuyn c o hm v
bit. Tng t vi phng php MRAC, chng ta gi s rng n l l tng c trng thi x
bm tim cn vi trng thi xm ca h tham chiu tha mn
m m m
x A x r + &
(31.6)
trong r(t) l u vo tham chiu c gii hn v lin tc trn tng on v Am l ma trn
Hurwitz. a vo mt vec t sai s
m
e x x
v vy ng hc ca sai lch c th c thit lp
bng cch tr hai phng trnh (31.5) v (31.6) nh sau:
( )
m m
e f x A x r u + &
(31.7)
Nu tham s c gi thit l bit, chn u vo iu khin
( )
m
u A x r f x +
lm cho
ng hc ca sai lch c cu trc sau:
m
e A e &
l ra thit k c mc tiu iu khin. Tuy nhin, khng th chn c lut iu khin v
cha bit. Do chng ta vn gi li cu trc ny tm lut iu khin, thay bng c lng
bin i vi thi gian do vy lut iu khin thch nghi da trn nguyn l tng ng tuyt i
th cho bi cng thc

( )
m
u A x r f x + (31.8)
Ghp vo lut iu khin trong phng trnh (31.7) cho ta ng hc ca h kn nh sau:
( )
m
e A e f x
%
& (31.9)
trong chng ta a ra bin
~
( ) t
miu t sai lch c lng tham s
~
( ) t
. C 2 vic
cn li phi lm l: (i) ch r tnh n nh v hi t tim cn ca
( ) e t
tin ti 0 khi
t
, (ii)
7
S tay C in t
a ra mt c cu chnh nh tham s cho
~
( ) t
. Chng ta hon thnh c hai vic trn bng cch
chn phng php Lyapunov. Gi thit
m
A
l Hurwitz, i vi mi cch chn ma trn xc nh
dng v i xng Q, lun tn ti mt ma trn xc nh dng, i xng P tha mn phng trnh
Lyapunov cho bi (31.3). Chn hm Lyapunov di dng mt ma trn P,
1
[ ]
T T
V e Pe tr

+
% %
(31.10)
trong l ma trn t l hc xc nh dng i xng. o hm V theo thi gian v kt hp
vi nghim ca phng trnh (31.9) ta c
1
( ) 2 ( ) 2 [ ]
T T T T
m m
V e PA A P e e P f x tr

+ +
&
% % % &
(31.11)
S dng cc php ng nht vt ma trn, [9] ta c biu thc sau
( ) [ ( ) ] [ ( ) ] [ ( )]
T T T T T
e P f x tr P f x e tr f x e P tr Pef x
% % % %
v vy chng ta c th kt hp 2 biu thc bn v phi ca phng trnh (31.11) nh sau:
1
( 2 [ { ( )}]
T T T
m m
Q
V e PA A Pe tr Pef x

+ +
&
% % &
1 4 2 4 3 (31.12)
Vi l hng s,
0

v
^ ~

. V vy, nu lut thch nghi cp nht

~

c chn l:

( )
T
Pef x
&
(31.13)
th o hm ca hm Lyapunov trong phng trnh (31.12) tr thnh
T
V e Qe
&
(31.14)
n l hm bn xc nh m, nhng n khng xc nh m. iu ny dn n
( ) (0) V t V
vi mi
0 t v v th
e
v
^

phi c gii hn. iu ny dn n

m
x e x +
cng c gii hn.
Ngoi ra
( ) 0 V t
v
(0) 0 V
, ngha l
lim ( )
t
V t V

tn ti v c gii hn.
0 0
( ) ( ) ( ) (0)
T
V d e Qe d V V

&
dn n
2 1
e L L
. T phng trnh (31.9), hin nhin rng
e L

. V vy, chng ta c th dng

b Barbalat chng minh
( ) 0 e t
khi
t
. Lu rng, mc d, sai lch tham s
~ ^

khng cn thit phi hi t v 0. Nhng vic hi t ca tham s tht c th ch xut hin
khi u vo tham chiu r(t) tha mn tnh quan st bt bin v cc iu kin kch thch lin tc [4].
Nhn xt: Ch trong thit k MRAC trn trong khi s n nh v s hi t ca sai lch bm
c m bo cho mi gi tr ca
m
A
,
Q
v , cht lng ca b iu khin s ph thuc rt
nhiu vo t l hc (learining rate) . T l hc nh hn ngha l s thch nghi s chm hn dn
n sai lnh bm ln v s tm thi ln (transients). Ngc li, gii hn trn ca t l hc c
gii hn bi s c mt ca ng hc phi m hnh. Bi v mt gi tr qu ln cho t l hc s dn
ti c lng tham s dao ng cao, n c th kch thch bt li cho ng hc i tng phi m
hnh tn s cao.
Nhn xt: Phng php thit k b iu khin c da trn 3 bc ch yu trn: (i) tm cu
trc b iu khin thch hp vi t tng (spirit) tuyn tnh ha phn hi, (ii) o hm ng hc
8
Thit k iu khin thch nghi v phi tuyn
sai lch bm thnh phn ph thuc vo phm vi sai lch tham s, v (iii) tm mt hm Lyapunov
ph hp, s dng nhn c lut cp nhp tham s sao cho sai lch bm s v 0. Trong trng
hp xc nh cu trc b iu khin tham s bit th bc ch yu nht nm trong thit k thch
nghi no bi v phn ln quan im cho rng tuyn tnh ha phn hi thich nghi khng th lun
lun ng dng c vo cc h thng tuyn tnh ha phn hi trong trng hp tham s bit.
iu ny xy ra bi v cc o hm bc cao ca c lng tham s xut hin trong lut iu khin
vi h thng bc cao hn, lm kh ng dng nguyn tc tng ng tuyt i. Cc phng php
mi khc khng ging vi nguyn tc tng ng tuyt i nh cun chiu (backstepping) tch
phn, suy gim phi tuyn, v cc hm chnh [10]. Trong cc phng php ny, cc lut thch nghi
c lng cc tham s i tng cha bit mt cch trc tip, do cho php tn dng ton b
kin thc trc v v vy loi tr kh nng trn tham s ha gii thiu trong phng php
MRAC trc tip truyn thng. Phng php thit k v kim chng n inh t c thng qua
qu trnh quy [10, 11], Tng quan v vn ny c th thy t Kokotovic [12] v cc kt qu
ca nhm nghin cu ca ng sau ny.
Nhn xt: Vi thc t l lun tn ti cc sai lch m hnh v cc hiu ng ca nhiu cha bit,
cng vi cc tham s cha bit, cc gii php iu khin thch nghi phi hng ti bi ton bn
vng. Sai lch tham s lun khng bit, o hm theo thi gian hm Lyapunov lun bn xc nh
m. iu ny dn n phng trnh h kn khng n inh theo hm m, thm ch cng khng n
nh tim cn bt bin. Nhiu phi m hnh hoc nhiu ngoi lm
V

bt nh ngay lp tc, v hu
ht cc phng php bin i chng minh bn vng n nh c c nh m bo
V

l m
ngoi khong ln cn ca trng thi cn bng. Bng vic a vo thm mt s hng trong lut iu
khin thch nghi trong phng trnh (31.13), (xem nh l b bin i

), Ioannou [7] thc hin

tnh n nh bn vng. Phng php ny, mc d rt ph bin, nhng c nhiu mt hn ch khi cc
nhiu b loi b, sai lnh bm khng th hi t v 0. vt qua vn ny, cc hng khc
nh thay i

[6] c xut bo m bn vng trong thit k thch nghi.

31.6 V d v iu chnh thch nghi t th bay cho tu v tr
Xt bi ton ca tu v tr vi mt t th ban u khc khng v vec t vn tc gc ca vt
c a v vec t v tr 0. Bi ton iu chnh t th thch nghi i tng cng ny da trn
phng php tuyn tnh ha phn hi c gii quyt bi Schaub, Akella, v Junkins [13]. Cc
phng trnh ch yu c miu t bi phng trnh quay Euler ca s chuyn ng v ng hc
h kn tuyn tnh mong mun (LCLD linear closedloop dynamics) c th hoc nh l dng PD
hoc dng PID[13, 14]. Gi thit ch c c lng th m men ca ma trn qun tnh c l
bit. Lut iu khin thch nghi c trnh by bao gm mt s hng phn hi nguyn trong ng
hc ca h kn mong mun v thit k n nh tim cn ngay khi c nhiu ngoi phi m hnh.
Kt qu m phng c minh ha nh hnh 31.3. vec t t th (attitude vector) c xc nh
di dng tham s Rodrigues bin i (MRP modified Rodrigues parameter) m thnh phn ca
n
i

nh hnh 31.3(a). Cha c b chnh nh, h h vn n nh tim cn. Tuy nhin, sai lch t
th tc thi khng tt bng LCLD mong mun. Khi c c cu chnh nh, cht lng rt gn vi
LCLD l tng.
9
S tay C in t
(a) vec t t th MRP

(b) Bin vec t t th

(c) vec t iu khin u (Nm) (d) c lng m men ngoi thch nghi (Nm)
(e) Sai lch
r

(f) Sai lch
t

g g
Hnh 31.3 S n nh ca vt cng khi thc hin LCLD trong iu kin qun tnh ln v khng
bit nhiu bn ngoi
Hnh 31.3 (b) minh ha bin ca vec t sai lch t th MRP

trn th logarit. Sai s tc

thi ln ca h h, lut iu khin thch nghi t do c hin th trong vng 20s u ca qu trnh
10
Thit k iu khin thch nghi v phi tuyn
cng vi cc c tnh hi t cui cng tt. S biu din ng hc h kn tuyn tnh li c ch ra
bng ng chm chm. Hai phin bn ca lut iu khin thch nghi c so snh y, chng
ch khc l c v khng c nhiu ngoi cng c c lng thch nghi. Trong hnh ny c 2 lut
thch nghi xut hin lm cho ng hc h kn tuyn tnh rt tt trong 40s giy u ca qu trnh.
Sau lut thch nghi khng hc nhiu bt u suy yu mt t l chm hn, thm ch hn c gii
php h h (khng thch nghi). Mc d c nhiu ngoi, nhng s thch nghi ci thin ng k t l
hi t cui cng. Lu , mc d, cng khng phi trng hp thch nghi bt u nhn c t
trng hp ng hc h kn tuyn tnh l tng nhng bin sai lch t th MRP b suy gim
xung xp x 10
-3
. iu ny tng ng vi sai lch gc quay ch yu khong xp x 0.23
0
. Vi s
thch nghi nhiu ngoi, sai lch bm so vi LCLD xut hin gn vi bc 2 ca bin nh hn.
Hiu sut ca lut iu khin thch nghi c th b thay i ln bng vic chn t l hc khc
nhau. Tuy nhin, t khi ma trn qun tnh khi to ln v sai lch m hnh nhiu ngoi xut hin,
t l hc b gim trnh cc m men chuyn tip ln. Cc thnh phn vec t m men iu
khin
i
u
cho vi trng hp th nh hnh 31.3(c). Cc m men h h khng n gn m men
LCLD l tng trong khong thi gian tc thi. Cc m men c yu cu bi trng hp thch
nghi khc th rt ging nhau. S khc nhau ch l trng hp hc nhiu ngoi gy ra vi dao
ng ca iu khin trng hp ng hc h kn tuyn tnh. Tuy nhin, ch rng vi t l hc
thch nghi c chn th lut iu khin hoc chng t cc m mn t tr tc thi gn vi m men
LCLD l tng. Hnh 31.3(d) minh ha c lng nhiu ngoi thch nghi
e
F
tht vy tim cn
nhiu ngoi sinh thc bng cch gim t l hc thch nghi nhiu ngoi v gi cc sai lch c
lng thch nghi tc thi trong di hp l.
Hnh 31.3(f) minh ha sai lch thc hin tuyt i (absolute performance error). C 2 trng
hp c c cu chnh nh v khng c c cu chnh nh. Ta thy trong trng hp c c cu thch
nghi sai lch gim ng k so vi trng hp khng c c cu thch nghi.
Mc ch ca iu khin thch nghi trnh by trong v d ny l tin ti LCLD mong
mun. Cc hnh trn minh ha rng kt qu ton b phn cn li ca h thng n nh tim cn.
Hnh 31.3 (e) minh ha sai lch hiu sut tuyt i gia chuyn ng tht
( ) t
v chuyn ng
tham chiu tuyn tnh l tng
( )
r
t
. Hnh ny minh ha li sai lch hiu sut ln kt qu ny t
vic s dng lut iu khin h h vi m hnh h thng cha chnh xc. Thm c cu thch nghi
ci thin vic thc thi tc thi bm m bc 2 ca bin . Khng c vic hc nhiu ngoi, t l
suy gim sai lch thc hin cui cng tri phng. Sai lch ny s suy gim v 0. Tuy nhin, vi cc
h s hc cho n lm t l ny chm hn c khi khng dng c cu thch nghi. Thm vic hc
nhiu ngoi ci thin ng k s suy gim sai lch thc hin cui cng t khi h thng t c
mt m hnh chnh xc ca nhiu hng thc. Nu c lng m hnh ban u cng chnh xc, t l
hc thch nghi cng cao, kt qu thm ch cn tt hn hiu sut theo ri ca LCLD. Vi s m
phng ny n c th bm LCLD mong mun rt tt ngay c vi h thng ln c m hnh khng r.
31.7 iu khin thch nghi phn hi u ra
Tri vi cc phng php khng gian trng thi, phng php vo-ra coi i tng nh l mt
hp en bin i cc u vo c cung cp sang khng gian u ra tng ng. L thuyt n nh
cho h phi tuyn nhn t gc vo-ra th rt quan trng trong trng hp thit k iu khin phn
hi u ra thch nghi. Gii php cho bi ton thit k b quan st thch nghi cn phi c lng
trng thi ca h thng vi cc tham s cha bit ang t c tin b theo cch gii quyt bi
ton iu khin phn hi u ra. Gn y c nhng s tin b trong gii php ny th tc
thit k b quan st thch nghi phi tuyn c m rng hn vi trng hp tng qut cc h s
khuych i ca cc tham s cha bit ph thuc vo ton b trng thi, v khng hiu chnh c
trn phn o [15].
11
S tay C in t
Trong phm vi ln, cc kt qu hu hiu c lm bng cch kt hp cc iu kin nh l
b ng (passivitylike) vi cc iu kin kch thch lin tc thng thng. Ni dng ch yu trong
mc ny l khi nim ca tnh b ng, n gn nh l mt trnh by vn tt v tng tiu th
nng lng trong c h thng tuyn tnh v phi tuyn. H b ng c hu ht trong cc ng dng
c kh v k thut in. Mt h thng c kh gm khi lng, tnh n hi v gim chn nht l
mt v d in hnh cho h b ng. Sau y l cc nh ngha.
nh ngha: Cht tn hiu
Cho Y l min xc nh ca hm gi tr thc c nh ngha trong khong
[0, )
. x l mt
phn t ca Y. Khi hm cht ca x ti T>0 c nh ngha
( ) 0
( )
0
T
x t t T
x t
t T

'
>

nh ngha: Khng gian m rng

Nu X l mt tp con tuyn tnh ca Y, th khng gian m rng
e
X
c nh ngha bi tp
{ : 0}
T
x Y x X T
vi vi gi tr T
Tp m rng
2
L
c bao hm bi
2e
L
nh ngha: Tch v hng ca 2 tn hiu
Tnh v hng ca 2 tn hiu bin i theo thi gian
2
,
e
x y L
c nh ngha l
0 0
( ) ( ) ( ) ( )
T
T T
x y x y d x y d

nh ngha: H thng th ng
Mt h thng vi u vo
( ) u t
v u ra
( ) y t
l th ng nu
0 y u
H l th ng tuyt i u vo nu 0 > tha mn
2
y u u
H c gi l th ng tuyt i u ra nu 0 > tha mn
2
y u y
31.8 Cc b quan st thch nghi v iu khin phn hi u ra
By gi chng ta trnh by bi ton quan st thch nghi phi tuyn theo cng thc ca Besancon
[15]:
( , , ) ( , , )
( )
x f x u t g x u t
y h x
+

&
(31.15)
trong hm f v g l C

i vi tt cc tham s ca n v l mt tham s hng cha bit. Cc

bin x, u v y theo th t biu th vec t trng thi, vec t u vo, vec t u ra. Cc tn hiu u
vo c th c gi s ph thuc vo mt s hm o c v b gii hn. Bng mt b quan st
thch nghi, chng ta a n bi ton khi phc c lng trng thi
^
( ) x t
s dng u vo u v
12
Thit k iu khin thch nghi v phi tuyn
u ra y vi s c mt ca tham s cha bit v vy
^
lim ( ) ( ) 0
t
x t x t

. iu kin tn ti
mt b quan st th sn c, [15] n c th c pht biu nh sau. Nu tn ti mt b quan st ph
hp trong trng hp m bit, v nu trong trng hp xc nh b quan st nh l sai lch
ca tham s c to ra v h thng sai lch c lng trng thi l b ng gia u vo v sai
lch u ra
^
( ) h x y
, th c th thit k b quan st trng thi tim cn thn ch cha bit . Thm
na, s i hi th ng, hi t sai lch tham s ny, nh bnh thng, cn kch hot lin tc hn
i vi u.
Kt qu tuyt vi ny c cc ng dng ngay lp tc trong bi ton theo di nh v tu khng
gian m khng c gi tr o vn tc gc [16]. Hin nay ni ting v phng trnh ca bi ton iu
khin nh v vt rn di dng iu kin th ng tha mn vec t MRP [17, 18] gia vec t vn
tc gc v vec t MRP. Mt kt qu rt th ng quan trng trong trng hp ny l trong thc t
lut iu khin phn hi cho iu khin nh v c thc hin bng cch xy dng da trn
Lyapunov khng cn o vn tc gc. Kt qu lut iu khin cung cp hu ht s n nh tim cn
ton cc trong hng i ca Tsiontras [18].
31.9 Nhn xt
Nh ni, vic pht trin v ng dng ca l thuyt iu khin thch nghi hin i cho h phi
tuyn tng qut thng qua hng tip cn trit hc ca cc phng php lun h tuyn tnh
ang tn ti rng ri. Trong nhiu trng hp b gii hn nh l l thuyt t chnh, cch tip cn
ca cc phng php tuyn tnh song song ny thnh cng ln. Tuy nhin, t c thnh
cng nh trong cc lnh vc nghin cu khc nh l bm qu o, tng hp b iu khin, v khi
phc trng thi th rt kh.
Cc h thng phi tuyn xut hin trong s bin i theo cc cch a dng, v khng phi tt c
chng u c th iu khin c bng cch m rng n gin ti phng php iu khin thch
nghi tuyn tnh. Mt phng php ha hn cho mc ch nghin cu xa hn l chun ha vic
nghin cu cc h thng c kh, do gii hn lp cc h phi tuyn nghin cu, v v vy c
th gii thiu cu trc v cc iu kin rng buc thm. Ngc li trong trng hp iu khin
phn hi u ra cho h phi tuyn tng qut, cc thit k ring ca b quan st trng thi v b iu
khin khng cn m bo tnh n nh nh trong thit k tch hp. (khng theo nguyn l tch),
cc phng php c cu trc s dng bin i trng thi c a ra gip ly li cc tnh cht
ring bit trong nhiu trng hp [15]. Vi kt qu ny, cc phng php c cu trc ni trn
cng c th tnh b iu khin bm ton cc v bn ton cc da trn phn hi u ra (trng
thi tng phn). Theo cch tip cn ny rt c th c tim nng cung cp cha kha gi
quyt vi bi ton khc xut hin khng thuc cc h c in cc m chng ta cn cha bit.
Ti liu tham kho
[1] Narendra, K. S., Parameter adaptive controlThe End or The Beginning?,
Proceedings of the 33rd Conference on Decision and Control . Lake Buena
Vista, Florida, December 1994.
[2] Slotine, J. E. and Li, W., Applied Nonlinear Control . Prentice-Hall, Englewood
Cliffs, NJ, 1991.
[3] Khalil, H. K., Nonlinear Systems . Macmillan, New York, NY, 1992.
[4] Sastry, S. and Bodson, M., Adaptive Control: Stability, Convergence and
Robustness . Prentice-Hall, 1989.
[5] Tao, G., A simple alternative proof to the Barbalat Lemma, IEEE Transactions on
Automatic Control, Vol. 42, No. 5, May 1997, p. 698.
13
S tay C in t
[6] Narendra, K. S. and Annaswamy, A. M., Stable Adaptive Systems . Prentice-Hall,
1989.
[7] Ioannou, P. A. and Sun, J., Stable and Robust Adaptive Control . Prentice-Hall,
Upper Saddle River, NJ, 1995, pp. 85134.
[8] Astrom, K. J. and Wittenmark, B., Adaptive Control . Addison-Wesley, Reading, MA,
1995.
[9] Gantmacher. The Theory of Matrices, Vol I. Chelsea Publishing Company, NY, 1977,
pp. 353354.
[10] Krsti , M., Kanellakopoulos, I., and Kokotovi , P. V., Transient performance improvement
with a new class of adaptive controllers, Systems & Control Letters, Vol. 21, 1993,
pp. 451461.
[11] Krti , M., Kanellakopoulos, I., and Kokotovi , P. V., Nonlinear design of adaptive
controllers for linear systems, IEEE Transactions on Automatic Control, Vol. 39,
1994, pp. 738752.
[12] Kokotovic, P. V., The joy of feedback: nonlinear and adaptive control, IEEE Control
Systems Magazine, Vol. 12, No. 3, 1992, pp. 717.
[13] Schaub, H., Akella, M. R., and Junkins, J. L., Adaptive control of nonlinear attitude
motions realizing linear closed loop dynamics, Journal of Guidance, Control and
Dynamics, Vol. 24, No. 1, Jan.Feb. 2001.
[14] Akella, M. R., Schaub, H., and Junkins, J. L., Adaptive realization of linear closed loop
tracking dynamics in the presence of large system model errors, Journal of
Astronautical Sciences, Vol. 48, No. 4, 2000.
[15] Besanon, G., Global output feedback tracking control for a class of Lagrangian systems,
Automatica,Vol. 36, 2000, pp. 19151921.
[16] Akella, M. R., Rigid body attitude tracking without angular velocity feedback, Systems
& Control Letters, Vol. 42, No. 4, 2001.
[17] Lizarralde, F. and Wen, J. T., Attitude control without angular velocity measurement: a
passivity approach, IEEE Transactions on Automatic Control, Vol. 41, No. 3,
1996, pp. 468472.
[18] Tsiotras, P., Further passivity results for the attitude control problem, IEEE
Transactions on Automatic Control, Vol. 43, No. 11, 1998, pp. 15971600.
14