期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 83, 期 10, 页码 2120-2133出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2010.508092
关键词
adaptive control; MIMO discrete-time systems; couplings
资金
- National Nature Science Foundation of China [61004059, 60904086]
In this article, adaptive control is investigated for a class of discrete-time multi-input-multi-output nonlinear systems in block-triangular form with uncertain couplings of delayed states among subsystems. Future states prediction is carried out to facilitate adaptive control design and auxiliary outputs are introduced to develop a novel compensation mechanism for the uncertain nonlinear couplings. By using Lyapunov method and ordering signals growth rate, it is rigorously proved that all the signals in the whole closed-loop systems are globally bounded and the output tracking errors asymptotically converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation study.
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