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Adaptive Control of a Class of MIMO Nonlinear Systems in the Presence of Additive Input and Output Disturbances

机译：添加输入和输出扰动下的一类mImO非线性系统的自适应控制

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In this paper, two controllers are developed for a class of MIMO nonlinear systems. First, a robust adaptive controller is proposed and proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. In addition to guaranteeing an asymptotic output tracking result, it is also proven that the parameter estimate vector is driven to a constant vector. In the second part of the paper, a learning controller is designed and proven to yield a semi-global asymptotic tracking result in the presence of additive disturbances when the desired trajectory is periodic. A continuous nonlinear integral feedback component is utilized in the design of both controllers and Lyapunov-based techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented for both controllers.

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Tatlicioglu, E.; Xian, B.; Dawson, D. M.; Burg, T. C.;
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年度 2009
页码 1-28
总页数 28
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Nonlinear systems ; Adaptive control systems ; Integrals ; Numerical analysis ; Lyapunov functions ; Input output processing ; Asymptotic series ; Multiple operation ; Uncertainty ; Tracking;

机译：非线性系统;自适应控制系统;积分;数值分析; Lyapunov函数;输入输出处理;渐近序列;多重运算;不确定性;跟踪;

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1. Adaptive finite-time fault-tolerant controller for a class of uncertain MIMO nonlinear switched systems subject to output constraints and unknown input nonlinearities [J] . Moradvandi Ali, Malek Sayyed Alireza, Shahrokhi Mohammad Nonlinear analysis. Hybrid systems: An International Multidisciplinary Journal . 2020,第期

机译：用于一类不确定的MIMO非线性交换系统的自适应有限时间容错控制器经过输出约束和未知输入非线性
2. Adaptive neural network control for a class of MIMO non-affine uncertain systems with input dead-zone nonlinearity and external disturbance [J] . Nassira Zerari, Mohamed Chemachema, Najib Essounbouli International journal of systems,control and communications . 2020,第2期

机译：一种具有输入死区非线性和外部干扰的一类MIMO非仿射不确定系统的自适应神经网络控制
3. ADAPTIVE CONTROL OF NON-LINEAR TELEOPERATOR SYSTEMS IN THE PRESENCE OF ADDITIVE INPUT AND OUTPUT DISTURBANCES [J] . E. Tatlicioglu International Journal of Robotics & Automation . 2010,第1期

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4. Output Adaptive Controller for a Class of MIMO Systems with Input Delay and Multisinusoidal Disturbance [C] . Jian Wang, Alexey A. Vedyakov, Anastasiia O. Vediakova, IFAC Conference on Modelling, Identification and Control of Nonlinear Systems . 2016

机译：用于输入延迟和多轴扰动的一类MIMO系统的输出自适应控制器
5. Output feedback and adaptive control of uncertain MIMO nonlinear systems with non-symmetric input gain matrix. [D] . Zhang, Ximing. 2004

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6. Neural NetworkL1 Adaptive Control of MIMO Systems with Nonlinear Uncertainty [O] . Hong-tao Zhen, Xiao-hui Qi, Jie Li, -1

机译：神经网络大号1具有非线性不确定性的MIMO系统的自适应控制
7. Disturbance Observer-Based Input-Output Finite-Time Control of a Class of Nonlinear Systems [O] . Leipo Liu, Xiaona Song, Zhumu Fu, 2017

机译：基于干扰观察者的输入输出有限时间控制一类非线性系统

Adaptive Control of a Class of MIMO Nonlinear Systems in the Presence of Additive Input and Output Disturbances

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