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An adaptive H tracking control for a class of nonlinear multiple-input multiple-output (MIMO) systems

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1 Author(s)
Yeong-Chan Chang ; Dept. of Electr. Eng., Kan-Shan Univ. of Technol., Hsien, Taiwan

An adaptive H tracking control equipped with a VSC algorithm is proposed for a class of nonlinear multiple-input-multiple-output (MIMO) systems that are represented by input-output models involving parametric uncertainties, unmodeled perturbations and external disturbances. In order to counteract the effect due to the unmodeled perturbation in the input weighting gain the H tracking control requires to solve a modified algebraic Riccati-like matrix equation. The derived hybrid adaptive-robust tracking control schemes guarantee that all the signals and states are bounded, the tracking error is uniformly and ultimately bounded and an H tracking performance is achieved. Compared with the conventional H tracking control design the developed adaptive-robust H tracking control scheme can be applied to a broader class of nonlinear MIMO systems in the presence of high-degree uncertainties

Published in:

Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 9 )