Direct adaptive control design for reachable linear discrete-time uncertain systems

Author

Fu, S.H. ; Cheng, C.-C.

Author_Institution

Dept. of Mechanical & Electro-Mechanical Eng., Nat. Sun Yat-Sen Univ., Kaohsiung, Taiwan

Volume

3

fYear

2003

fDate

16-20 July 2003

Firstpage

1306

Abstract

In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems. The proposed adaptive controller addresses adaptive stabilization while under the reachability assumption. The method can be easily extended to the system with bounded exogenous disturbances and ℓ₂ disturbances, where the disturbance rejection can be addressed. The framework is Lyapunov-based and the adaptive laws are characterized by Kronecker calculus. Finally, several numerical examples are provided to demonstrate the efficacy of the proposed framework.

Keywords

Lyapunov methods; MIMO systems; adaptive control; asymptotic stability; closed loop systems; control system synthesis; discrete time systems; feedback; iterative methods; linear systems; matrix algebra; reachability analysis; uncertain systems; Kronecker calculus; Lyapunov-based approach; MIMO linear uncertain systems; Sylvester equation; adaptive stabilization; asymptotic stability; closed-loop system; direct adaptive control design; disturbance rejection; exogenous disturbances; feedback gain; iteration methods; l₂ disturbances; linear discrete-time uncertain systems; multiple input multiple output; reachability assumption; zero solution; Adaptive control; Adaptive systems; Control systems; Linear systems; MIMO; Neural networks; Parameter estimation; Programmable control; Stability; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222185

Filename

1222185