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Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations

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  • Duo-Qing Sun
  • Xiao-Ying Ma

Abstract

This paper addresses the difficulty of designing a controller for a class of multi-input multi-output uncertain nonaffine nonlinear systems governed by differential equations. We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control. The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem. The stability of the closed-loop system is analyzed using the Lyapunov method. The effectiveness of our proposed method is validated with a numerical example.

Suggested Citation

  • Duo-Qing Sun & Xiao-Ying Ma, 2020. "Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations," Complexity, Hindawi, vol. 2020, pages 1-13, February.
    • Handle: RePEc:hin:complx:3649472
    DOI: 10.1155/2020/3649472
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