Robust adaptive control of a class of nonlinear strict-feedback discrete-time systems with exact output tracking

被引：46
作者：
Ge, Shuzhi Sam [1 ,2 ]
Yang, Chenguang [1 ,2 ]
Dai, Shi-Lu [1 ,2 ]
Jiao, Zongxia [3 ]
Lee, Tong Heng [1 ,2 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
[2] Natl Univ Singapore, Social Robot Lab, Interact Digital Media Inst, Singapore 119077, Singapore
[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China
来源：
AUTOMATICA | 2009年 / 45卷 / 11期
关键词：
Discrete-time system; Nonparametric nonlinear uncertainties; Unmatched uncertainties; Asymptotical tracking; UNCERTAINTY; DESIGN; MODELS;
D O I：
10.1016/j.automatica.2009.07.025
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, adaptive control is studied for a class of single-input-single-output (SISO) nonlinear discrete-time systems in strict-feedback form with nonparametric nonlinear uncertainties of the Lipschitz type. To eliminate the effect of the nonparametric uncertainties in an unmatched manner, a novel future states prediction is designed using states information at previous steps to compensate for the effect of uncertainties at the current step. Utilizing the predicted future states, constructive adaptive control is developed to compensate for the effects of both parametric and nonparametric uncertainties such that global stability and asymptotical output tracking is achieved. The effectiveness of the proposed control law is demonstrated in the simulation. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码：2537 / 2545
页数：9
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