Unit Vector Control of Uncertain Multivariable Nonlinear Systems
| Authors: | Peixoto Alessandro J., COPPE, Federal University of Rio de Janeiro, Brazil
Cunha Jose Paulo V. S., State University of Rio de Janeiro, Brazil
Hsu Liu, COPPE, Federal University of Rio de Janeiro, Brazil
Costa Ramon R., COPPE, Federal University of Rio de Janeiro, Brazil
Lizarralde Fernando, COPPE, Federal University of Rio de Janeiro, Brazil |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Output Feedback |
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| Keywords: | Sliding mode control, multivariable systems, nonlinear systems, model reference adaptive control, output feedback |
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Abstract
A unit vector based output-feedback model-reference adaptive controller (UV-MRAC) for a class of uncertain multivariable nonlinear systems is proposed. This paper generalizes a previous controller which can be applied to plants with uniform relative degree one. Here, the relative degree can be arbitrary. The resulting sliding mode controller is applicable to plants with nonlinear state dependent disturbances which are possibly unmatched with respect to the plant input. The closed loop system has global or semi-global exponential stability with respect to some small residual set and the controller is free of peaking phenomena which could appear in high gain observer based schemes.
