Work

Lyapunov-based adaptive control design for a class of uncertain MIMO nonlinear systems

Year: 2011

Type: conference-paper

Abstract: In this paper, an adaptive feedback control is designed for a class of MIMO nonlinear systems containing parametric uncertainty in both the drift vector and the input gain matrix, which is assumed to be full-rank and non-symmetric in general. Based on an SDU decomposition of the gain matrix, a singularity-free adaptive tracking control law is proposed that is shown to be globally asymptotically stable (GAS) under full-state feedback. Output feedback results are facilitated via the use of a high-gain observer (HGO). Under output feedback control, ultimate boundedness of the error signals is obtained - the size of the bound is related to the size of the uncertainty in the parameters. An explicit upper bound is also provided on the size of the HGO gain constant.

Source: The proceedings of the IEEE Conference on Control Applications/The proceedings of the ... IEEE Conference on Control Applications

DOI: 10.1109/isic.2011.6045409

Authors: Z. Wang, A. Behal, B. Xian, J. Chen

Institutions: University of Central Florida, Tianjin University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2110648906

FWCI: 1.605

Cites: 36

Cited by: 5

Related to: 10