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Control of MIMO systems using adaptive internal model principle with backstepping approach

ZHOU Jing1, WEN Chang-yun2   

  1. 1. Faculty of Information Technology,Mathematics and Electrical Engineering,Norwegian University of Science and Technology；2. School of Electrical and Electronic Engineering,Nanyang Technological University
  • Received:2007-10-02 Revised:1900-01-01 Online:2007-10-24 Published:2007-10-24
  • Contact: WEN Chang-yun

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Abstract: Adaptive output feedback control of a class of multiple-input multiple-output systems is considered in the presence of unknown disturbances. Except the signs of the term multiplying the control are assumed, no other knowledge on the unknown parameters is required. The control design is achieved by using backstepping, tuning functions, SDU factorization and estimating parameters. It is shown that the proposed controller can guarantee global uniform ultimate boundedness.

Key words: backstepping, adaptive control, MIMO systems, tuning function, factorization

CLC Number: 

  • TP273
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