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Volume 3 Issue 1
Jan.  2016

IEEE/CAA Journal of Automatica Sinica

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Longsheng Chen and Qi Wang, "Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 105-112, 2016.
Citation: Longsheng Chen and Qi Wang, "Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 105-112, 2016.

Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems

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This work was supported by the Aerospace Science and Technology Innovation Foundation of China (CAST2014CH01), the Aeronautical Science Foundation of China (2015ZC560007), the Jiangxi Natural Science Foundation of China (20151BBE50026), and National Natural Science Foundation of China (11462 015).

  • In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multioutput (MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unknown external disturbance based on backstepping technique. The MIMO nonaffine system is first transformed into a time-varying system with strict feedback structure using the mean value theorem, and then the bounded time-varying parameters are estimated by adaptive algorithms with projection. To handle the possible "controller singularity" problem caused by unknown control direction, a Nussbaum function is employed, and the dynamic surface control (DSC) method is applied to solve the problem of "explosion of complexity" in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through Lyapunov stability theorem and decoupled backstepping method. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.

     

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