A Robust Nonlinear Model Reference Adaptive Control for Disturbed Linear Systems: An LMI Approach

Roberto Franco, Hector Rios, Alejandra Ferreira de Loza, Denis Efimov

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

Resumen

In this paper a robust nonlinear Model Reference Adaptive Control (MRAC) is proposed for disturbed linear systems, i.e., linear systems with parameter uncertainties, and external time-dependent perturbations or nonlinear unmodeled dynamics matched with the control input. The proposed nonlinear control law is composed of two nonlinear adaptive gains. Such adaptive gains allow the control to counteract the effects of some perturbations and nonlinear unmodeled dynamics ensuring asymptotic convergence of the tracking error to zero, and the boundedness of the adaptive gains. The nonlinear controller synthesis is given by a constructive method based on the solution of Linear Matrix Inequalities (LMIs). Besides, the simulation results show that, due to the nonlinearities, the rate of convergence of the proposed algorithm is faster than the provided by a classic MRAC.

Idioma originalInglés
PublicaciónIEEE Transactions on Automatic Control
DOI
EstadoAceptada/en prensa - 2021

Nota bibliográfica

Publisher Copyright:
IEEE

Huella

Profundice en los temas de investigación de 'A Robust Nonlinear Model Reference Adaptive Control for Disturbed Linear Systems: An LMI Approach'. En conjunto forman una huella única.

Citar esto