Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 45, Issue 6, Pages 1221-1225Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/9.863612
Keywords
adaptive control; function approximation; Lyapunov function; multivariable systems; stability
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A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. By utilizing the system triangular property, integral-type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need of estimating the decoupling matrix of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantified by mean square and L-infinity tracking error bound criteria.
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