Adaptive Linearization and Model Reference Control of a Class of MIMO NonlinearSystems

摘要

This paper discusses two schemes for the adaptive control of MIMO nonlinearsystems with parametric uncertainty in their dynamics. First, we propose an adaptive version of the dynamic compensation scheme for decoupling right invertible MIMO nonlinear systems. Then, we present a scheme for Model Reference Adaptive Control, which is an adaptive version of the one proposed for asymptotic model matching by static state feedback. Moreover, we show that the non-adaptive model matching control law can be specialized to yield asymptotic tracking control and we give an adaptive version of this tracking control law.