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Direct adaptive control for non‐linear uncertain systems with exogenous disturbances
Author(s) -
Haddad Wassim M.,
Hayakawa Tomohisa
Publication year - 2002
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.678
Subject(s) - control theory (sociology) , bounded function , controller (irrigation) , adaptive control , constraint (computer aided design) , linear system , exponential stability , stability (learning theory) , lyapunov function , mathematics , multivariable calculus , computer science , nonlinear system , control (management) , engineering , control engineering , artificial intelligence , mathematical analysis , physics , geometry , quantum mechanics , machine learning , agronomy , biology
A direct adaptive non‐linear control framework for multivariable non‐linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non‐linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov‐based and guarantees partial asymptotic stability of the closed‐loop system; that is, asymptotic stability with respect to part of the closed‐loop system states associated with the plant. In the case of bounded energy L 2 disturbances the proposed approach guarantees a non‐expansivity constraint on the closed‐loop input–output map. Finally, several illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach. Copyright © 2002 John Wiley & Sons, Ltd.