DocumentCode :
3178570
Title :
Adaptive output tracking of MIMO nonlinear systems with unknown non-symmetric dead-zone
Author :
Chenliang Wang ; Yan Lin
Author_Institution :
Sch. of Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
fYear :
2012
fDate :
10-13 Dec. 2012
Firstpage :
4115
Lastpage :
4120
Abstract :
This paper is devoted to the adaptive output tracking for a class of multi-input multi-output nonlinear systems with unknown non-symmetric dead-zone. Under the assumption that the signs of leading principal minors of the control gain matrix are known, an adaptive dynamic surface control scheme is proposed. The proposed scheme is able to avoid the explosion of complexity problem in backstepping design and guarantee the L performance of the tracking error. Moreover, only one parameter needs to be updated online at each design step, which significantly reduces the computational burden. It is proved that all signals of the closed-loop system are semi-globally uniformly bounded. Simulation results are given to illustrate the effectiveness of the proposed scheme.
Keywords :
MIMO systems; adaptive control; closed loop systems; control nonlinearities; control system synthesis; matrix algebra; nonlinear control systems; MIMO nonlinear systems; adaptive dynamic surface control scheme; adaptive output tracking; backstepping design; closed-loop system; complexity problem explosion; control gain matrix; leading principal minor; multiinput multioutput nonlinear systems; semiglobally uniformly bounded signal; tracking error L performance; unknown nonsymmetric dead-zone; Adaptive control; Backstepping; Complexity theory; Explosions; MIMO;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
ISSN :
0743-1546
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2012.6426774
Filename :
6426774
Link To Document :
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