Adaptive Regulation of Discrete-Time Nonaffine Systems With Parametric Uncertainty

被引：5

作者：

Lin, Wei ^{[1
,2
]}

Niu, Xiaoru ^{[3
]}

Gao, Xianwen ^{[3
]}

Tao, Gang ^{[4
]}

机构：

[1] Dongguan Univ Technol, Dongguan, Guangdong, Peoples R China

[2] Case Western Reserve Univ, Dept Elect Comp & Syst Engn, Cleveland, OH 44106 USA

[3] Northeastern Univ, Dept Informat Sci & Engn, Shenyang 110819, Peoples R China

[4] Univ Virginia, Dept Elect & Comp Engn, Charlottesville, VA 22903 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2021年 / 66卷 / 05期

关键词：

Uncertainty; Adaptive control; Nonlinear dynamical systems; Regulation; Adaptive regulation; discrete-time passive systems; global stability; nonaffine inputs; nonlinear parameterization; zero-state detectability; GLOBAL STABILIZATION; FEEDBACK STABILIZATION; NONLINEAR-SYSTEMS; PASSIVITY; EQUIVALENCE;

D O I：

10.1109/TAC.2020.3006855

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article investigates the problem of global adaptive stabilization for discrete-time nonlinearly parameterized systems with nonaffine inputs. Using the notion of passivity and the idea of small bounded feedback, we present a discrete-time adaptive controller that globally adaptively stabilizes a class of non-affine systems with unknown parameters, under the assumptions that the unforced dynamics are stable and the controllabilitylike rank conditions hold. The latter is shown to be characterizable by the vector fields f(x, 0, theta) and partial derivative f/partial derivative u (x, 0, theta), together with their "Lie derivatives" and "Lie brackets" in discrete time.

引用

页码：2365 / 2371

页数：7

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