Abstract
In this paper, adaptive control is studied for a class of single-input–single-output (SISO) nonlinear discrete-time systems in strict-feedback form with nonparametric nonlinear uncertainties of the Lipschitz type. To eliminate the effect of the nonparametric uncertainties in an unmatched manner, a novel future states prediction is designed using states information at previous steps to compensate for the effect of uncertainties at the current step. Utilizing the predicted future states, constructive adaptive control is developed to compensate for the effects of both parametric and nonparametric uncertainties such that global stability and asymptotical output tracking is achieved. The effectiveness of the proposed control law is demonstrated in the simulation.
DOI
10.1016/j.automatica.2009.07.025
Publication Date
2009-11-01
Publication Title
Automatica
Volume
45
Publisher
Elsevier BV
Embargo Period
2024-11-22
First Page
2537-2545
Last Page
2537-2545
Recommended Citation
Ge, S., Yang, C., Dai, S., Jiao, Z., & Lee, T. (2009) 'Robust Adaptive Control of a Class of Nonlinear Strict-feedback Discrete-time Systems with Exact Output Tracking', Automatica, 45, pp. 2537-2545-2537-2545. Elsevier BV: Available at: https://doi.org/10.1016/j.automatica.2009.07.025
