Adaptive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

作者：Yang, Chenguang; Li, Yanan; Ge, Shuzhi Sam^*; Lee, Tong Heng

来源：International Journal of Control, 2010, 83(10): 2120-2133.

DOI：10.1080/00207179.2010.508092

• adaptive control
• MIMO discrete-time systems
• couplings

In this article, adaptive control is investigated for a class of discrete-time multi-input-multi-output nonlinear systems in block-triangular form with uncertain couplings of delayed states among subsystems. Future states prediction is carried out to facilitate adaptive control design and auxiliary outputs are introduced to develop a novel compensation mechanism for the uncertain nonlinear couplings. By using Lyapunov method and ordering signals growth rate, it is rigorously proved that all the signals in the whole closed-loop systems are globally bounded and the output tracking errors asymptotically converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation study.

• 出版日期2010
• 单位电子科技大学