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

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Nov 09, 2009
Accession Number
ADA515892

Entities

People

  • Bin Xian
  • Darren M. Dawson
  • Enver Tatlicioglu
  • Timothy C. Burg

Organizations

  • İzmir Institute of Technology

Tags

Communities of Interest

  • C4I

DTIC Thesaurus Topics

  • Additives (Chemicals)
  • Closed Loop Systems
  • Convergence
  • Electrical Engineering
  • Engineering
  • Gain
  • Guarantees
  • Inequalities
  • Learning
  • Linear Systems
  • Nonlinear Systems
  • Simulations
  • Standards
  • Trajectories
  • Two Dimensional
  • Uncertainty
  • Universities

Fields of Study

  • Mathematics

Readers

  • Calculus or Mathematical Analysis
  • Robotics and Automation.