Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms

Authors:
Bin Yao;Masayoshi Tomizuka
Affiliations:
School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA;Mechanical Engineering Department, University of California at Berkeley, CA 94720, USA
Venue:
Automatica (Journal of IFAC)
Year:
2001

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Abstract

Adaptive robust control (ARC) laws are developed for MIMO nonlinear systems transformable to two semi-strict feedback forms. The forms allow coupling and appearance of parametric uncertainties in the input matrix of each layer.