Title :
Adaptive control of MIMO nonlinear systems with nested triangular structure
Author_Institution :
Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont., Canada
Abstract :
In this paper, an adaptive controller is constructed for multi-input nonlinear systems by using the backstepping technique. It is assumed that unknown parameters enter the systems linearly and the systems are in a nested lower triangular form. The designed adaptive controller guarantees that the corresponding closed-loop system is globally asymptotically stable for any unknown parameters.
Keywords :
Lyapunov methods; MIMO systems; adaptive control; asymptotic stability; closed loop systems; control nonlinearities; control system synthesis; nonlinear control systems; Lyapunov methods; MIMO nonlinear systems; adaptive controller design; asymptotic stability; backstepping technique; closed loop system; multiple input nonlinear systems; nested lower triangular form; nested triangular structure; Adaptive control; Adaptive systems; Backstepping; Control systems; Feedback; Lakes; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1340705
