Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance

被引：137
作者：
Cai, Z [1 ]
de Queiroz, MS
Dawson, DM
机构：
[1] Univ Iowa, Dept Elect & Comp Engn, Iowa City, IA 52242 USA
[2] Louisiana State Univ, Dept Mech Engn, Baton Rouge, LA 70803 USA
[3] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2006年 / 51卷 / 03期
基金：
美国国家科学基金会;
关键词：
backstepping; disturbance; Lyapunov theory; nonlinear contol; robust adaptive control;
D O I：
10.1109/TAC.2005.864204
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This note deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, C-0 robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C-2 with bounded time derivatives, we present a C-0 robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero.
引用
收藏
页码：524 / 529
页数：6
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