Adaptive Regulation of Discrete-Time Nonaffine Systems With Parametric Uncertainty

• 成果类型: Article
• 署名作者: Lin, Wei; Niu, Xiaoru; Gao, Xianwen; Tao, Gang
• 署名单位: Dongguan University of Technology; University System of Ohio; Case Western Reserve University; Northeastern University - China; University of Virginia
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3006855
• 发表日期: 2021
• 页码: 2365-2371
• 关键词: uncertainty; Adaptive control; nonlinear dynamical systems; regulation; Adaptive regulation; discrete-time passive systems; Global stability; nonaffine inputs; nonlinear parameterization; zero-state detectability

摘要

This article investigates the problem of global adaptive stabilization for discrete-time nonlinearly parameterized systems with nonaffine inputs. Using the notion of passivity and the idea of small bounded feedback, we present a discrete-time adaptive controller that globally adaptively stabilizes a class of non-affine systems with unknown parameters, under the assumptions that the unforced dynamics are stable and the controllabilitylike rank conditions hold. The latter is shown to be characterizable by the vector fields f(x, 0, theta) and partial derivative f/partial derivative u (x, 0, theta), together with their Lie derivatives and Lie brackets in discrete time.