Model-Free Adaptive Control for Discrete-Time Nonlinear Systems with Partially Known Structures

The regulation problem for a class of discrete-time nonlinear non-affine systems with partially known structures using model free adaptive control (MFAC) algorithm is investigated in this paper. The core idea is to first linearize the known parts of the system mathematical model based on traditional linearization methods, and then employ dynamic linearization technology to process the unknown structure of controlled system and the unmodeled dynamics generated by traditional linearization, for the purpose of complementary advantages and the collaborative control between the data-driven control (DDC) methods and the model-based control (MBC) strategies. Unlike the prototype MFAC algorithm, the control scheme devised in this paper fully utilizes the known structure of the system such that the control objective can be better realized. Finally, the monotonic convergence of system tracking error is rigorously proved, meanwhile, the superiorities of developed algorithm is demonstrated by the simulation comparison results.