Direct adaptive control designs for nonlinear discrete-time systems with matched uncertainties

Abstract

In this paper, we developed a dired adaptive control framework for MIMO nonlinear uncertain systems with matched exogenous disturbances, which are confined to admissible classes and characterized unmodeled dynamics and uncertain nonlineadties, We emphasize that the ' frameworks are Lyapunov-based and the proposed controllers address adaptive stabilization. Furthermore, A factored adaptive gain matrices are obtained when extended to linear systems.Finally, the proposed framework is applied to II numerical example for demonstration.

A Robust Nonlinear Control Strategy for Unsupported Paraplegic Standing Using Functional Electrical Stimulation: Controller Synthesis and Simulation

“…37,38 Discrete Adaptive Control The design process of an adaptive controller usually contains three steps: the first step is choosing a control law, the second step is choosing an adaptation law for adjusting control parameters, and the third step is analyzing the output convergence properties of the resulting control system. 39 For the system defined by (1), the adaptive feedback control law and the update law are given by (15) and 16, respectively 40 .…”

“…The stability of the used adaptive controller is guaranteed using the adaptation law (equation 16) based on Lyapunov stability theory 40 that has been explained in appendix B.…”

“…37,38 The parameters of the adaptive controllers have chosen heuristically, and according to some principles presented in the literature. [40][41][42] while ( )…”