Title :
Robust adaptive control for a class of MIMO nonlinear systems with guaranteed error bounds
Author :
Xu, Haojian ; Ioannou, Petros A.
Author_Institution :
Dept. of Electr. Eng. Syst., Univ. of Southern California, Los Angeles, CA, USA
fDate :
5/1/2003 12:00:00 AM
Abstract :
The design of stabilizing controllers for multiple-input-multiple-output (MIMO) nonlinear plants with unknown nonlinearities is a challenging problem. The high dimensionality coupled with the inability to identify the nonlinearities online or offline accurately motivates the design of stabilizing controllers based on approximations or on approximate estimates of the plant nonlinearities that are simple enough to be generated in real time. The price paid in such case, could be lack of theoretical guarantees for global stability, and nonzero tracking or regulation error at steady state. In this paper, a nonlinear robust adaptive control algorithm is designed and analyzed for a class of MIMO nonlinear systems with unknown nonlinearities. The proposed control scheme provides a general approach to bypass the stabilizability problem where the estimated plant becomes uncontrollable without any restrictive assumptions. The controller is continuous and guarantees closed-loop semi-global stability and convergence of the tracking error to a small residual set. The size of the tracking error at steady state can be specified a priori and guaranteed by choosing certain design parameters. A procedure for choosing these parameters is presented. The properties of the proposed control algorithm are demonstrated using simulations.
Keywords :
MIMO systems; adaptive control; closed loop systems; differential equations; neural nets; nonlinear systems; parameter estimation; robust control; tracking; MIMO systems; adaptive control; closed-loop systems; global stability; neural networks; nonlinear systems; nonlinearities; parameter estimation; real time systems; robust control; robustness; stabilizability; switching functions; tracking error; Adaptive control; Algorithm design and analysis; Control nonlinearities; Couplings; Error correction; MIMO; Nonlinear systems; Robust control; Stability; Steady-state;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.811250