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Adaptive prescribed performance control of switched MIMO uncertain nonlinear systems subject to unmodeled dynamics and input nonlinearities

Malek, S. A ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1002/rnc.4352
  3. Abstract:
  4. In this paper, the design of an adaptive tracking control for a class of switched uncertain multiple-input–multiple-output nonlinear systems in the strict-feedback form with unmodeled dynamics in the presence of three types of input nonlinearity under arbitrary switching has been addressed. By means of an intelligent approximator like a fuzzy logic system or a neural network, the unknown dynamics are estimated. The unmodeled dynamics have been tackled with a dynamic signal. A universal framework for describing different types of input nonlinearity including saturation, backlash, and dead zone has been utilized. By applying the backstepping approach and the common Lyapunov function method, virtual and actual controllers and the adaptive law for each subsystem have been constructed. Finally, it has been shown that the closed-loop system is semiglobally uniformly ultimately bounded and the tracking errors converge to their predefined bounds. The effectiveness of the proposed control scheme has been shown through simulation study. © 2018 John Wiley & Sons, Ltd
  5. Keywords:
  6. Arbitrarily switched systems ; Input nonlinearity ; Intelligent approximator ; Predefined output accuracy ; Unmodeled dynamics ; Backstepping ; Closed loop control systems ; Closed loop systems ; Control nonlinearities ; Dynamics ; Fuzzy logic ; Lyapunov functions ; Approximators ; Input non linearities ; Output accuracy ; Switched system ; Unmodeled dynamics ; Adaptive control systems
  7. Source: International Journal of Robust and Nonlinear Control ; Volume 28, Issue 18 , 2018 , Pages 5981-5996 ; 10498923 (ISSN)
  8. URL: https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.4352?af=R