Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms
From MaRDI portal
The authors consider the MIMO nonlinear system NEWLINE\[NEWLINE\dot x=f(x,\theta) + B(x,\theta)u +D(x)\Delta(x,\theta,u,t),\quad y=h(x), NEWLINE\]NEWLINE where \(y\in\mathbb R^m\) and \(u\in\mathbb R^m\) are the output and input vectors, respectively, \(x\in\mathbb R^n\) is the state vector, \(\theta\in\mathbb R^p\) is the vector of unknown parameters, \(h(x)\), \(f(x,\theta)\), \(B(x,\theta)\), and \(D(x)\) are known, and \(\Delta\in\mathbb R^{l_d}\) represents the vector of unknown nonlinear functions such as disturbances and modeling errors. The reasonable and practical assumptions on the linear parametrization of the state equations are made, which are satisfied by most applications. To deal with the complexity and difficulties caused by the coupling and the appearance of parametric uncertainties in the input matrices, an adaptive robust control (ARC) Lyapunov function -- an extension of the adaptive control Lyapunov function -- is used to formalize the viewpoint and the achievable results of the recently proposed ARC approach. Two backstepping designs via ARC Lyapunov functions are presented. The results are then used to construct specific ARC laws for MIMO nonlinear systems in the semi-strict-feedback forms. By using trajectory initialization, the resulting ARC law achieves a guaranteed output tracking transient performance and final tracking accuracy in general, while keeping all physical states and control inputs bounded. In addition, the control law achieves asymptotic output tracking in the presence of parametric uncertainties without using a discontinuous or infinite-gain feedback term.
Recommendations
- Robust adaptive neural control of a class of nonlinear systems
- An adaptive H/sup ∞/ tracking control for a class of nonlinear multiple-input multiple-output (MIMO) systems
- Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
- Adaptive fuzzy output tracking control of MIMO nonlinear uncertain systems via backstepping
- scientific article; zbMATH DE number 205218
Cites work
- A Lyapunov-Like Characterization of Asymptotic Controllability
- A parameter estimation perspective of continuous time model reference adaptive control
- Adaptive control of linearizable systems
- Adaptive nonlinear control without overparametrization
- Adaptive nonlinear regulation: estimation from the Lyapunov equation
- Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
- Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
- Design of robust controllers for uncertain dynamical systems
- Global adaptive output-feedback control of nonlinear systems. I. Linear parameterization
- scientific article; zbMATH DE number 47864 (Why is no real title available?)
- scientific article; zbMATH DE number 51130 (Why is no real title available?)
- scientific article; zbMATH DE number 53595 (Why is no real title available?)
- scientific article; zbMATH DE number 796797 (Why is no real title available?)
- Nonlinear control systems: An introduction
- On ultimate boundedness control of uncertain systems in the absence of matching assumptions
- Robust adaptive controller with zero residual tracking errors
- Robust adaptive state-feedback tracking for nonlinear systems
- Robust control of nonlinear uncertain systems under generalized matching conditions
- Robustness of adaptive nonlinear control to bounded uncertainties
- Sliding modes in control and optimization. Transl. from the Russian
- Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient Performance
- Stabilization with relaxed controls
- Stable model reference adaptive control in the presence of bounded disturbances
Cited in
(56)- Fuzzy adaptive observer backstepping control for MIMO nonlinear systems
- Output torque tracking control of direct-drive rotary torque motor with dynamic friction compensation
- Adaptive asymptotic control of multivariable systems based on a one-parameter estimation approach
- Adaptive tracking control for a class of uncertain nonlinear systems with infinite number of actuator failures using neural networks
- Adaptive sliding mode control based on uncertainty and disturbance estimator
- Precise motion control of an electromagnetic valve actuator with adaptive robust compensation of combustion force
- Control of MIMO nonlinear systems: a data-driven model inversion approach
- T-S fuzzy model based \(H_\infty\) control for 7-DoF automobile electrohydraulic active suspension system
- Multidimensional output stabilization of a certain class of uncertain systems
- Torque ripple minimization in PMSM based on an indirect adaptive robust controller
- Adaptive fuzzy control for nonlinear systems with sampled data and time-varying input delay
- Observer-based adaptive fuzzy tracking control of MIMO switched nonlinear systems preceded by unknown backlash-like hysteresis
- Barrier Lyapunov functions-based command filtered output feedback control for full-state constrained nonlinear systems
- Event-triggered adaptive fuzzy output feedback control of MIMO switched nonlinear systems with average dwell time
- Adaptive fuzzy control for a class of uncertain nonaffine nonlinear systems
- Design of block backstepping controllers for a class of perturbed multiple inputs and state-delayed systems in semi-strict-feedback form
- Robust adaptive learning control for nonlinear systems with extended matching unstructured uncertainties
- Adaptive output feedback control of uncertain nonlinear systems based on dynamic surface control technique
- Design of adaptive block backstepping controllers for uncertain nonlinear dynamic systems with n blocks
- Direct adaptive fuzzy backstepping control for uncertain discrete-time nonlinear systems using noisy measurements
- Block backstepping control of multi-input nonlinear systems with mismatched perturbations for asymptotic stability
- Adaptive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings
- Adaptive robust control of a class of nonlinear systems in semi-strict feedback form with non-uniformly detectable unmeasured internal states
- Adaptive robust dynamic surface control with composite adaptation laws
- Towards a link between the factorization approach and MIMO robust adaptive control
- Robust adaptive output-feedback control for a class of nonlinear systems with general uncertainties
- An adaptive H/sup ∞/ tracking control for a class of nonlinear multiple-input multiple-output (MIMO) systems
- Adaptive fuzzy dynamic surface control for uncertain discrete-time nonlinear systems in pure-feedback form using a set of noisy measurements
- Adaptive fuzzy robust control for a class of nonlinear systems via small gain theorem
- Online constrained optimization based adaptive robust control of a class of MIMO nonlinear systems with matched uncertainties and input/state constraints
- Design of adaptive fuzzy backstepping sliding mode control for MIMO uncertain discrete-time nonlinear systems based on noisy measurements
- Modular adaptive robust control of SISO nonlinear systems in a semi‐strict feedback form
- Multivariable adaptive control: a survey
- Accommodation of unknown actuator faults using output feedback-based adaptive robust control
- Robust adaptive control for a class of cascaded nonlinear systems with applications to space interception
- Design of a simplified adaptive fuzzy backstepping control for uncertain discrete-time nonlinear systems
- Robust adaptive integrated translation and rotation finite-time control of a rigid spacecraft with actuator misalignment and unknown mass property
- A new adaptive sliding mode control of uncertain nonlinear systems
- Adaptive fuzzy control of uncertain MIMO non-linear systems in block-triangular forms
- Adaptive neural network tracking control for a class of non-linear systems
- A decoupled adaptive control algorithm for global state feedback stabilization of a class of nonlinear systems
- Neural network adaptive robust control of nonlinear systems in semi-strict feedback form
- Adaptive ride height controller design for vehicle active suspension systems with uncertain sprung mass and time‐varying disturbance
- Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties
- Adaptive neural containment control of nonstrict-feedback multi-agent systems with unmodeled dynamics
- A fully actuated system approach: desired compensation adaptive robust control for uncertain nonlinear systems
- Predictor-based adaptive robust control for input delay systems with Lipschitz nonlinear uncertainties and disturbances
- Observer-based adaptive iterative learning control for nonstrict-feedback systems with state constraints
- Robust adaptive dynamic surface control of uncertain non-linear systems with output constraints
- Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
- Indirect adaptive robust backstepping control for input delay systems with Lipschitz nonlinear uncertainties and disturbances
- Adaptive fuzzy output feedback tracking control with prescribed performance for chemical reactor of MIMO nonlinear systems
- Approximation-based adaptive fuzzy control for a class of non-strict-feedback stochastic nonlinear systems
- Robust adaptive L₂-gain control of polytopic MIMO LTI systems -- LMI results
- Integrated direct/indirect adaptive robust contouring control of a biaxial gantry with accurate parameter estimations
- Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles
This page was built for publication: Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5947641)
