Name
Title | ||
|---|---|---|
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance |
Abstract | ||
|---|---|---|
A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small prespecified constant. Visualizing the prescribed performance characteristics as tracking error constraints, the key idea is to transform the ldquoconstrainedrdquo system into an equivalent ldquounconstrainedrdquo one, via an appropriately defined output error transformation. It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem. Besides guaranteeing a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop, the proposed robust adaptive controller is smooth with easily selected parameter values and successfully bypasses the loss of controllability issue. Simulation results on a two-link robot, clarify and verify the approach. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/TAC.2008.929402 | Automatic Control, IEEE Transactions |
Keywords | Field | DocType |
MIMO systems,adaptive control,closed loop systems,control nonlinearities,controllability,feedback,linearisation techniques,nonlinear control systems,robust control,tracking,closed loop system,control system nonlinearity,control system stabilization,controllability issue,feedback linearizable MIMO nonlinear system,multiinput multioutput feedback linearizable nonlinear system,robust adaptive controller,tracking error constraint,two-link robot,uniform ultimate boundedness property,Neural networks,prescribed performance,robust adaptive control | Control theory,Controllability,Nonlinear control,Control theory,Uniform boundedness,Robustness (computer science),Adaptive control,Robust control,Mathematics,Tracking error | Journal |
Volume | Issue | ISSN |
53 | 9 | 0018-9286 |
Citations | PageRank | References |
273 | 7.90 | 23 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Charalampos P. Bechlioulis | 1 | 304 | 13.17 |
| George A. Rovithakis | 2 | 581 | 52.21 |