Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations
Keyword(s):
This paper addresses the difficulty of designing a controller for a class of multi-input multi-output uncertain nonaffine nonlinear systems governed by differential equations. We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control. The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem. The stability of the closed-loop system is analyzed using the Lyapunov method. The effectiveness of our proposed method is validated with a numerical example.
2009 ◽
Vol 15
(5)
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pp. 534-544
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Keyword(s):
2015 ◽
Vol 8
(4)
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pp. 330-344
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2001 ◽
Vol 11
(09)
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pp. 2339-2357
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2009 ◽
Vol 247
(3)
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pp. 770-778
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