Brief Robust adaptive control of uncertain discrete-time systems

Authors:
Ying Zhang;Changyun Wen;Yeng Chai Soh
Affiliations:
School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore 639798, Singapore;School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore 639798, Singapore;School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore 639798, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

In this paper, a robust adaptive controller for a class of nonlinear uncertain discrete-time systems is developed by combining the backstepping procedures with a simple parameter estimator subject to parameter projection. It is shown that the proposed controller can ensure boundedness of all signals in the overall adaptive systems in the presence of unmodelled dynamics and disturbances. It can also guarantee that the tracking error is bounded by a function of the size of the unmodelled dynamics. In the ideal case when there are no unmodelled dynamics and disturbances, perfect tracking is ensured.