Direct adaptive control for a class of MIMO nonlinear discrete-time systems  

作　　者：Lei Li Zhizhong Mao 

机构地区：[1]Automation Institute,College of Information Science and Engineering,Northeastern University [2]College of Electricity Information and Automation,Qufu Normal University

出　　处：《Journal of Systems Engineering and Electronics》2014年第1期129-137,共9页系统工程与电子技术（英文版）

基　　金：supported by the Fundamental Research Funds for Central Universities(N100604002)

摘　　要：This paper considers the problem of adaptive con-trol for a class of multiple input multiple output （MIMO） nonlinear discrete-time systems based on input-output model with unknown interconnections between subsystems. Based on the Taylor ex-pand technology, an equivalent model in affine-like form is derived for the original nonaffine nonlinear system. Then a direct adap-tive neural network （NN） control er is implemented based on the affine-like model. By finding an orthogonal matrix to tune the NN weights, the closed-loop system is proven to be semiglobal y uni-formly ultimately bounded. The σ-modification technique is used to remove the requirement of persistence excitation during the adaptation. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.This paper considers the problem of adaptive con-trol for a class of multiple input multiple output （MIMO） nonlinear discrete-time systems based on input-output model with unknown interconnections between subsystems. Based on the Taylor ex-pand technology, an equivalent model in affine-like form is derived for the original nonaffine nonlinear system. Then a direct adap-tive neural network （NN） control er is implemented based on the affine-like model. By finding an orthogonal matrix to tune the NN weights, the closed-loop system is proven to be semiglobal y uni-formly ultimately bounded. The σ-modification technique is used to remove the requirement of persistence excitation during the adaptation. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.

关 键 词：adaptive control nonaffine nonlinear discrete-timesystem equivalent affine-like model neural network （NN）. 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]