Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance

This note deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, C/sup 0/ robust adaptive controllers usually cannot ensure asymptotic tracking or e...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2006-03, Vol.51 (3), p.524-529
Main Authors: Cai, Z., de Queiroz, M.S., Dawson, D.M.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Additives
Applied sciences
Asymptotic properties
Backstepping
Computer science
control theory
systems
Control systems
Control theory. Systems
Derivatives
disturbance
Disturbances
Dynamical systems
Error correction
Exact sciences and technology
Lyapunov theory
MIMO
nonlinear contol
Nonlinear control systems
Nonlinear dynamics
Nonlinear systems
Programmable control
robust adaptive control
Robust control
Robustness
Tracking
Tracking errors
Uncertainty
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Summary:This note deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, C/sup 0/ robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C/sup 2/ with bounded time derivatives, we present a C/sup 0/ robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2005.864204