초록 ▼

Novel controllers have been discovered which permit control of the outputs of a system with minimal knowledge of the system\s internal dynamics, and with no knowledge of the values of disturbances on the system, or of the effects of the disturbances on the system. Very rapid convergence of the actua

Novel controllers have been discovered which permit control of the outputs of a system with minimal knowledge of the system\s internal dynamics, and with no knowledge of the values of disturbances on the system, or of the effects of the disturbances on the system. Very rapid convergence of the actual outputs to selected desired outputs is possible. The systems controlled may have multiple inputs and multiple outputs; may be linear or nonlinear; may be expressed in input-output form, state space form, or mixed form; and may be implemented with analog circuit elements, digital circuit elements; or a hybrid of both analog and digital circuit elements. Both general and special cases of such controllers are disclosed.

대표청구항 ▼

An apparatus for physically forcing a physical vector output y of a physical system to converge to a selected physical output vector yd in accordance with a selected vector tracking property T; in which the output vector y is affected by the internal physical dynamics of the system, external physica

An apparatus for physically forcing a physical vector output y of a physical system to converge to a selected physical output vector yd in accordance with a selected vector tracking property T; in which the output vector y is affected by the internal physical dynamics of the system, external physical disturbances, and the physical responses of physical actuators in the system to an external physical control vector u; and in which the internal dynamics of the system are not necessarily known, and in which the values and effects of the external disturbances are not necessarily known; comprising: (a) means for measuring the difference vector e between the selected output vector yd and the output vector y; (b) means for determining the vector tracking property T as a selected function of the difference vector e; (c) means for determining an internal control vector w(t), where w(t) is expressible in a form substantially equivalent to w(t)=mw(t-e)+VT or to w(t)=kVT m0m k=(1-m)-1, whereby k is a high gain; t is the time; ezzz-1(qzz-1; q is a minimal-order vector of dynamic variables that completely describe the dynamics of the system, insofar as those dynamics affect the output vector y; qzz(1) . . . q(i) . . . qz(i) is the ith derivative of q with respect to time, and z0 is the highest order derivative of q needed to describe the system; y=g(q,d) is expressible as an algebraic function g of q and d; d is a vector or vector function of the external disturbances affecting the system; J is the Jacobian matrix (¶g/¶q); Az¶�1/¶q(z�1=�1(q, q(1), . . . , q(zz¶�2/¶b), a matrix or matrix function determined by the dynamics of the actuators: �2=�2(u, u(1), . . . , u(i), . . . , u(hh(i) is the ith derivative of u with respect to time, and h0 is the highest order derivative of u needed to described the control input; b=b(u, u(1), . . . , u(hzz-1(qzT if r>n; W(qz(1), . . . , u(hd; and (f) repeating steps (a) through (e) sufficiently to physically force the physical output vector y to converge to the selected physical output vector yd in accordance with the selected vector tracking property T.