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Adaptive Output Trajectory Tracking Control for a Class of Affine Nonlinear Discrete-Time Systems

Authors Wang, Zhuo HKUST affiliated (currently or previously).
Gao, Furong View this author's profile
Issue Date 2016
Source IEEE Transactions on Systems, Man, and Cybernetics: Systems , v. 46, (3), March 2016, article number 7151836, p. 326-333
Summary In this paper, we develop an adaptive output trajectory tracking control (AOTTC) method for a class of affine nonlinear discrete-time systems. The controller designed by this AOTTC method can make real-system output track the given expected trajectory asymptotically. Our method has some advantages: 1) it requires relatively few assumptions about the system model; 2) it can simplify the control problem by dynamically linearizing the system model and designing and adjusting the feedback gain matrix to adaptively stabilize the system online; and 3) it can estimate the system parameters by using an optimization scheme without using vast amounts of sampled data. This designing and adjusting procedure of the feedback gain matrix has a clear physical meaning and is easily applied. We also give out the convergence condition of the AOTTC method. Then, a voltage-controllable permanent magnet linear motor system is employed for computer simulation, whose results demonstrate the feasibility of our control method.
ISSN 2168-2216
Language English
Format Article
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