Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations

Duo-Qing Sun and Xiao-Ying Ma

Complexity, 2020, vol. 2020, 1-13

Abstract:

This paper addresses the difficulty of designing a controller for a class of multi-input multi-output uncertain nonaffine nonlinear systems governed by differential equations. We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control. The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem. The stability of the closed-loop system is analyzed using the Lyapunov method. The effectiveness of our proposed method is validated with a numerical example.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:3649472

DOI: 10.1155/2020/3649472

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