A Lyapunov-based adaptive control framework for discrete-time non-linear systems with exogenous disturbances

    Authors

    T. Hayakawa; W. M. Haddad;A. Leonessa

    Comments

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    Abbreviated Journal Title

    Int. J. Control

    Keywords

    STABILITY; Automation & Control Systems

    Abstract

    A direct adaptive non-linear control framework for discrete-time multivariable non-linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non-linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the plant. In the case of bounded energy l 2 disturbances the proposed approach guarantees a non-expansivity constraint on the closed-loop input-output map. Finally, three illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach.

    Journal Title

    International Journal of Control

    Volume

    77

    Issue/Number

    3

    Publication Date

    1-1-2004

    Document Type

    Article

    Language

    English

    First Page

    250

    Last Page

    263

    WOS Identifier

    WOS:000189027000004

    ISSN

    0020-7179

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