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Robust adaptive control of nonlinearly parametrized multivariable systems with unmatched disturbances
Author(s) -
Yang Shaohua,
Tao Gang,
Jiang Bin
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4947
Subject(s) - control theory (sociology) , adaptive control , multivariable calculus , nonlinear system , parametrization (atmospheric modeling) , bounding overwatch , convergence (economics) , robust control , scheme (mathematics) , controller (irrigation) , computer science , mathematics , control engineering , control (management) , engineering , artificial intelligence , mathematical analysis , agronomy , physics , quantum mechanics , economic growth , economics , biology , radiative transfer
Summary A new robust adaptive control scheme is developed for nonlinearly parametrized multivariable systems in the presence of parameter uncertainties and unmatched disturbances. The developed control scheme employs a new integrated framework of a functional bounding technique for handling nonlinearly parametrized system dynamics, an adaptive parameter estimation algorithm for dealing with parameter uncertainties, a nonlinear feedback controller structure for stabilization of interconnected system states, and a robust adaptive control design for accommodating unmatched disturbances. It is proved that such a new robust adaptive control scheme is capable of ensuring the global boundedness and mean convergence of all closed‐loop system signals. A complete simulation study on an air vehicle system with nonlinear parametrization in the presence of an unmatched wind disturbance is conducted, and its results verify the effectiveness of the proposed robust adaptive control scheme.