Title :
Adaptive asymptotic tracking control of a class of discrete-time nonlinear systems with parametric and nonparametric uncertainties
Author :
Yang, Chenguang ; Dai, Shi-Lu ; Ge, Shuzhi Sam ; Lee, Tong Heng
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
In this paper, adaptive control is studied for a class of nonlinear discrete-time systems in parameter-strict-feedback form with both parametric and non-parametric uncertainties. The non-parametric uncertainty function is assumed to satisfy the Lipschitz condition. To achieve asymptotical tracking performance, estimation of both uncertainties is constructed. Future states are predicted to overcome the noncausal problem. Based on future states prediction and uncertainties estimation, a novel adaptive control is proposed. An augmented tracking error of equal growth order of the output tracking error is used in the parameter estimation law. The proposed adaptive control achieves asymptotical tracking performance and guarantees the boundedness of all closed-loop signals. The effectiveness of the proposed control law is demonstrated in the simulation.
Keywords :
adaptive control; asymptotic stability; closed loop systems; discrete time systems; nonlinear systems; parameter estimation; uncertain systems; Lipschitz condition; adaptive asymptotic tracking control; adaptive control; asymptotical tracking performance; augmented tracking error; closed-loop signals; discrete-time nonlinear systems; nonlinear discrete-time systems; nonparametric uncertainty function; output tracking error; parameter estimation law; parameter-strict-feedback form; Adaptive control; Backstepping; Control systems; Neural networks; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Sliding mode control; Uncertainty;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160035