Stable adaptive control for nonlinear multivariable systems with a triangular control structure

被引：95

作者：

Ge, SS ^{[1
]}

Hang, CC ^{[1
]}

Zhang, T ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 06期

关键词：

adaptive control; function approximation; Lyapunov function; multivariable systems; stability;

D O I：

10.1109/9.863612

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. By utilizing the system triangular property, integral-type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need of estimating the "decoupling matrix" of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantified by mean square and L-infinity tracking error bound criteria.

引用

页码：1221 / 1225

页数：5

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