Abstract
—This article presents a new study on adaptive control of multi-input and multi-output (MIMO) discrete-time nonlinear systems with a noncanonical form involving parametric uncertainties. The adaptive control scheme employs a vector relative degree formulation to reconstruct the noncanonical system dynamics and derives a normal form. Then, a new matrix decomposition-based adaptive control scheme is proposed for the controlled plant with a vector relative degree [1, 1, . . ., 1] under some relaxed design conditions. In particular, the matrix decomposition technique is adopted to overcome the singularity problem during the adaptive estimation of an uncertain high-frequency gain matrix. The adaptive control scheme ensures closed-loop stability and asymptotic output tracking. An extension to the adaptive control of general canonical-form MIMO discrete-time nonlinear systems is also presented. Finally, through simulations, the effectiveness of the proposed control scheme is verified.
Original language | English |
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Pages (from-to) | 4330-4337 |
Number of pages | 8 |
Journal | IEEE Transactions on Automatic Control |
Volume | 67 |
Issue number | 8 |
DOIs | |
Publication status | Published - 1 Aug 2022 |
Externally published | Yes |
Keywords
- Adaptive control
- matrix decomposition
- noncanonical form
- output tracking