Title

Robust Adaptive Control Design For A Class Of Uncertain Mimo Nonlinear Systems

Abstract

In this paper, we address the problem of adaptive control design for a class of multi-input multi-output (MIMO) nonlinear systems. A Lypaunov based singularity free control law, which compensates for parametric uncertainty in both the drift vector and the input gain matrix, is proposed under the mild assumption that the signs of the leading minors of the control input gain matrix are known. Lyapunov analysis shows global uniform ultimate boundedness (GUUB) result for the tracking error under full state feedback (FSFB). Under the restriction that only the output vector is available for measurement, an output feedback (OFB) controller is designed based on a standard high gain observer (HGO) - stability under OFB is fostered by the uniformity of the FSFB solution. Simulation results for both FSFB and OFB controllers demonstrate the efficacy of the MIMO control design in the classical 2-DOF robot manipulator model. © 2010 IEEE.

Publication Date

11-30-2010

Publication Title

IEEE International Symposium on Intelligent Control - Proceedings

Number of Pages

2284-2289

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/ISIC.2010.5612881

Socpus ID

78649351113 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/78649351113

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