A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 3 Issue 1
Jan.  2016

IEEE/CAA Journal of Automatica Sinica

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Ci Chen, Zhi Liu, Yun Zhang, C. L. Philip Chen and Shengli Xie, "Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 26-34, 2016.
Citation: Ci Chen, Zhi Liu, Yun Zhang, C. L. Philip Chen and Shengli Xie, "Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 26-34, 2016.

Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach

Funds:

This work was supported in part by National Natural Science Foundation of China (61573108, 61273192, 61333013), the Ministry of Education of New Century Excellent Talent (NCET-12-0637), Natural Science Foundation of Guangdong Province through the Science Fund for Distinguished Young Scholars (S20120011437), and Doctoral Fund of Ministry of Education of China (20124420130001).

  • This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown timevarying control coefficients are tackled. In contrast to existing literatures on continuous-times systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically, not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore, an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally, a simulation example is provided to examine the validity of the proposed scheme.

     

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