On the asymptotic control of nonlinear uncertain systems

Authors:
Vahram Stepanyan;Andrew Kurdila
Affiliations:
Virginia Polytechnic Institute and State University, Blacksburg, VA;Virginia Polytechnic Institute and State University, Blacksburg, VA
Venue:
ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
Year:
2007

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Abstract

This paper presents a robust adaptive control design method for a class of multi-input multi-output nonlinear systems in the presence of parametric and non-parametric uncertainties and bounded disturbances. Using the approximation properties of the unknown continuous nonlinearities and the adaptive bounding technique, the developed controller achieves asymptotic convergence of the tracking error to zero, while ensuring boundedness of parameter estimation errors. The algorithm assumes no knowledge of the bounds on the uncertainties in designing the controller. It is based on an integral technique involving the filtered tracking error and produces a continuous control. Theoretical developments are illustrated via simulation results.