Lyapunov-based adaptive control of MIMO systems

被引:125
作者
Costa, RR
Hsu, L
Imai, AK
Kokotovic, P
机构
[1] Univ Fed Rio de Janeiro, COPPE, Dept Elect Engn, BR-21945970 Rio de Janeiro, Brazil
[2] Univ Calif Santa Barbara, Ctr Control Engn & Computat, Santa Barbara, CA 93106 USA
基金
美国国家科学基金会;
关键词
Lyapunov methods; adaptive control; multivariable systems; high-frequency gain; factorization;
D O I
10.1016/S0005-1098(03)00085-2
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
The design of Model-Reference Adaptive Control for MIMO linear systems has not yet achieved, in spite of significant efforts, the completeness and simplicity of its SISO counterpart. One of the main obstacles has been the generalization of the SISO assumption that the sign of the high-frequency gain (HFG) is known. Here we overcome this obstacle and present a more complete MIMO analog to the well known Lyapunov-based SISO design which is significantly less restrictive than the existing analogs. Our algorithm makes use of a new control parametrization derived from a factorization of the HFG matrix K-p = SDU, where S is symmetric positive definite, D is diagonal, and U is unity upper triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K-p, are assumed to be known. (C) 2003 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码:1251 / 1257
页数:7
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