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近年来,自适应控制领域取得的主要成果是:解决了大范围稳定性问题,弄清了自适应控制各种实现方法之间的等价性。这些发展成果使我们能用统一的方式来研究自适应控制的各种问题。 模型参考自适应控制(MRAC)和自校正调节器(STR)是解决自适应控制问题的两种主要方法。模型参考自适应控制已经被用于连续时间系统和离散时间系统,而自校正调节器仅能用来分析离散时间系统。不过到目前为止,模型参考自适应控制主要只用于确定性系统,而随机自校正调节器则是研究不确定性系统的有效方法。随着这两种方法之间等价性的建立,必将导致模型参考自适应控制和自校正调节器乏间的互相补充和互相促进。 本文的目的是简要地回顾一下近年来自适应控制的发展情况,并为将来的研究指出可能的方向。
In recent years, the main achievements made in the field of adaptive control are: to solve the problem of a wide range of stability, and to clarify the equivalence between the various implementations of adaptive control. These developments have enabled us to study various aspects of adaptive control in a unified way. Model Reference Adaptive Control (MRAC) and Self-Tuning Regulator (STR) are the two main solutions to the problem of adaptive control. Model reference adaptive control has been used in both continuous-time systems and discrete-time systems, while self-tuning regulators can only be used to analyze discrete-time systems. However, so far, model reference adaptive control is mainly used for deterministic systems, while stochastic self-tuning regulator is an effective method to study uncertain systems. With the establishment of equivalence between these two methods, it will inevitably lead to model reference adaptive control and self-tuning regulators lack of mutual complement and mutual promotion. The purpose of this paper is to briefly review the recent developments in adaptive control and point out the possible directions for future research.