Title

A Lyapunov-Based Adaptive Control Framework For Discrete-Time Non-Linear Systems With Exogenous Disturbances

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 ℓ2 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.

Publication Date

2-15-2004

Publication Title

International Journal of Control

Volume

77

Issue

3

Number of Pages

250-263

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1080/00207170310001649900

Socpus ID

1542365307 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/1542365307

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