A new tuning function-based robust adaptive controller for parametric strict-feedback systems

被引：0
|
作者：
Gao, F. [1 ]
de Queiroz, M. S. [1 ]
Dawson, D. M. [2 ]
机构：
[1] Louisiana State Univ, Dept Mech Engn, Baton Rouge, LA 70803 USA
[2] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2007年
关键词：
D O I：
暂无
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 paper reports a new robust adaptive tracking controller for multi-input/multi-output nonlinear parametric strict-feedback systems in the presence of parametric uncertainty and any unknown continuous bounded additive disturbance. The proposed solution uses a new projection-like adaptation that allows the application of the standard tuning function approach, thereby avoiding overparametrization and the need for extra nonlinear damping-type terms in the control. The robust adaptive control is shown to guarantee practical tracking in the presence of the disturbance and asymptotic tracking when the disturbance disappears.
引用
收藏
页码：794 / 799
页数：6
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