光电跟踪与测量技术研究室知识库

This paper was presented one new modified controller scheme for inertial gyro control system. Based on Narendra's hybrid adaptive law, the modified algorithm was variable metric that took use of parameter matrix Γk to obtain two updating laws in turn online. The key modified contents were: 1) the output y(t)was passed by one low-pass filter, 2) the parameter was updating in term of one proper initial Γ0 and the measurable values. The objective of the proposed new adaptive robust control schemes was to achieve fast convergence of parameter updating, and promise good robust stability of control system during tracking, reduce the tracking error at start-time with filtered output. © (2014) Trans Tech Publications, Switzerland.