Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations

Abstract EN

This paper addresses the difficulty of designing a controller for a class of multi-input multi-output uncertain nonaffine nonlinear systems governed by differential equations.

We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control.

The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem.

The stability of the closed-loop system is analyzed using the Lyapunov method.

The effectiveness of our proposed method is validated with a numerical example.