Stable adaptive control for nonlinear multivariable systems with a triangular control structure

Author

Ge, S.S. ; Hang, C.C. ; Zhang, T.

Author_Institution

Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore

Volume

45

Issue

6

fYear

2000

fDate

6/1/2000 12:00:00 AM

Firstpage

1221

Lastpage

1225

Abstract

A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. By utilizing the system triangular property, integral-type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need of estimating the “decoupling matrix” of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantized by mean square and L_∞ tracking error bound criteria

Keywords

Lyapunov methods; adaptive control; multivariable control systems; nonlinear control systems; stability; L_∞ tracking error bound criteria; adaptive closed-loop system; integral-type Lyapunov functions; mean square tracking error bound criteria; nonlinear multivariable systems; nonlinearly parametrized function approximators; stable adaptive control; triangular control structure; Adaptive control; Control systems; Lyapunov method; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control; Stability analysis; Stability criteria; Transient analysis;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.863612

Filename

863612