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Tracking Control for a Class of Unknown Nonsquare MIMO Nonaffine Systems: A Deep-Rooted Information Based Robust Adaptive Approach

机译:一类未知非方MIMO非仿射系统的跟踪控制:基于深层信息的鲁棒自适应方法

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摘要

The tracking control problem of multi-input multi-output (MIMO) nonaffine dynamic systems is studied in this note. A globally uniformly ultimately bounded (GUUB) stable tracking control solution for non-square MIMO nonaffine systems with unknown dynamics and disturbances is established. Different from most existing methods, the proposed control design is based on the readily computable deep-rooted information on the system and does not involve linearization or approximation; and the resultant control algorithms are simple in structure, inexpensive in computation, user-friendly in design, and undemanding in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
机译:本文研究了多输入多输出(MIMO)非仿射动态系统的跟踪控制问题。建立了具有未知动力学和扰动的非正方形MIMO非仿射系统的全局统一最终有界(GUUB)稳定跟踪控制解决方案。与大多数现有方法不同,所提出的控制设计基于系统上易于计算的深层信息,并且不涉及线性化或逼近。所得到的控制算法结构简单,计算便宜,设计人性化,实现要求不高。理论分析和数值模拟都验证了该方法的有效性和优势。

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