On trajectory-dependent direct adaptive control for a class of uncertain linear discrete-time systems

摘要

In this paper, we develop a direct adaptive control framework for a class of linear discrete-time uncertain multi-input-multi-output (MIMO) systems with exogenous bounded disturbances. The proposed adaptive controller guarantees adaptive stabilization, while the controller does not require the knowledge of system uncertainties. In addition, the framework is Lyapunov based with trajectory-dependent hypothesis and the adaptive laws can be characterized by Kronecker calculus. Two numerical examples are provided to demonstrate the efficacy of the framework.