Paper Info
Title
Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems
Abstract
We consider the tracking problem of unknown, robustly stabilizable, multi-input multi-output (MIMO), affine in the control, nonlinear systems with guaranteed prescribed performance. By prescribed performance we mean that the tracking error converges to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting maximum overshoot as well as undershoot less than some sufficiently small preassigned constants. Utilizing an output error transformation, we obtain a transformed system whose robust stabilization is proven necessary and sufficient to achieve prescribed performance guarantees for the output tracking error of the original system, provided that initially the transformed system is well defined. Consequently, a switching robust control Lyapunov function (RCLF)-based adaptive, state feedback controller is designed, to solve the stated problem. The proposed controller is continuous and successfully overcomes the problem of computing the control law when the approximation model becomes uncontrollable. Simulations illustrate the approach.
Year
DOI
Venue
2010
10.1109/TAC.2010.2042508
IEEE Trans. Automat. Contr.
Keywords
Field
DocType
Adaptive control,Nonlinear control systems,Control systems,Nonlinear systems,Robust control,MIMO,Convergence,Robustness,Lyapunov method,Programmable control
Lyapunov function,Control theory,Mathematical optimization,Control-Lyapunov function,Nonlinear control,Control theory,Full state feedback,Adaptive control,Robust control,Mathematics,Tracking error
Journal
Volume
Issue
ISSN
55
5
0018-9286
Citations 
PageRank 
References 
95
3.05
7
Authors
2
Name
Order
Citations
PageRank
Charalampos P. Bechlioulis156631.81
George A. Rovithakis274945.73