On direct adaptive control design for nonlinear discrete-time uncertain systems |
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Authors: | Simon Hsu-Sheng Fu Chi-Cheng Cheng |
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Affiliation: | Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, 70 Lien-hai road, Kaohsiung 804, Taiwan, ROC |
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Abstract: | In this paper, we develop a direct adaptive control framework for adaptive stabilization of the MIMO nonlinear uncertain systems, which can be represented as discrete-time normal form with input-to-state zero dynamics. The framework is Lyapunov-based and guarantees partial stability of the closed-loop systems, such that the adaptation of the feedback gains can stabilize the closed-loop system without the knowledge of the system parameters. In addition, our results show that the adaptive feedback laws can be characterized by Kronecker calculus. Two numerical examples are given to demonstrate the efficacy of the proposed framework. |
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Keywords: | Discrete-time normal form systems Direct adaptive Partial stability Lyapunov-based methods Kronecker calculus Normal form |
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