Research Article

Direct adaptive control for non-linear uncertain systems with exogenous disturbances

  1. Wassim M. Haddad*,
  2. Tomohisa Hayakawa

Article first published online: 18 FEB 2002

DOI: 10.1002/acs.678

Issue

International Journal of Adaptive Control and Signal Processing

International Journal of Adaptive Control and Signal Processing

Volume 16, Issue 2, pages 151–172, March 2002

Additional Information

How to Cite

Haddad, W. M. and Hayakawa, T. (2002), Direct adaptive control for non-linear uncertain systems with exogenous disturbances. International Journal of Adaptive Control and Signal Processing, 16: 151–172. doi: 10.1002/acs.678

Author Information

  1. School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150, U.S.A.

*School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150, U.S.A.

Publication History

  1. Issue published online: 18 FEB 2002
  2. Article first published online: 18 FEB 2002
  3. Manuscript Accepted: 2 FEB 2001
  4. Manuscript Received: 19 MAY 2000

Funded by

  • National Science Foundation. Grant Number: ECS-9496249
  • Air Force Office of Scientific Research. Grant Number: F49620-001-0095

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Keywords:

  • adaptive non-linear control;
  • non-linear uncertain systems;
  • adaptive stabilization;
  • adaptive tracking;
  • disturbance rejection;
  • L2 disturbances

Abstract

A direct adaptive non-linear control framework for multivariable non-linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non-linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the plant. In the case of bounded energy L2 disturbances the proposed approach guarantees a non-expansivity constraint on the closed-loop input–output map. Finally, several illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach. Copyright © 2002 John Wiley & Sons, Ltd.

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