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

5

fYear

1999

fDate

1999

Firstpage

5176

Abstract

A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. Using the system´s triangular control property, integral type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need for 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 quantified by mean square and L_∞ tracking error bound criteria

Keywords

Lyapunov methods; MIMO systems; adaptive control; closed loop systems; control system synthesis; function approximation; multivariable control systems; neurocontrollers; nonlinear control systems; stability; L_∞ tracking error bound criteria; adaptive laws; decoupling matrix; integral type Lyapunov functions; mean square criteria; nonlinear multivariable systems; nonlinearly parametrized function approximators; stable adaptive control; transient performance; 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

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833374

Filename

833374