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A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. By utilizing the system triangular property, integral-type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need of estimating the “decoupling matrix” of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantized by mean square and L∞ tracking error bound criteria
Published in:
Automatic Control, IEEE Transactions on
(Volume:45
,
Issue:
6
)
Date of Publication: Jun 2000
- Page(s):
- 1221 - 1225
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 6699721
- Digital Object Identifier :
- 10.1109/9.863612
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Jun 2000
- Sponsored by :
- IEEE Control Systems Society
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