MTN output feedback tracking control for MIMO discrete-time uncertain nonlinear systems

Hong-Sen Yan; Qi-Ming Sun

doi:10.1016/j.isatra.2020.11.002

MTN output feedback tracking control for MIMO discrete-time uncertain nonlinear systems

ISA Trans. 2021 May:111:71-81. doi: 10.1016/j.isatra.2020.11.002. Epub 2020 Nov 9.

Authors

Hong-Sen Yan¹, Qi-Ming Sun²

Affiliations

¹ School of Automation, Southeast University, No.2 Sipailou, Nanjing, Jiangsu 210096, China; Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, No.2 Sipailou, Nanjing, Jiangsu 210096, China. Electronic address: hsyan@seu.edu.cn.
² School of Automation, Southeast University, No.2 Sipailou, Nanjing, Jiangsu 210096, China; College of Information Science and Technology, Nanjing Forestry University, Nanjing, Jiangsu 210037, China.

PMID: 33250214
DOI: 10.1016/j.isatra.2020.11.002

Abstract

An adaptive controller is developed that is based on the multidimensional Taylor network (MTN). This controller is used for multi-input and multi-output (MIMO) uncertain discrete-time nonlinear systems. This newly developed MTN is dissimilar with the neural network, in which only multiplication and addition are needed for this controller. Thus, real-time control is more easily to be achieved. The theoretical analysis shows that the output errors of the system are convergent and the output signals are semi-globally, uniformly and ultimately bounded. To illustrate the validity of MTN-based adaptive controller (MTNAC), a numerical example is given. The simulation data demonstrate that this MNTAC has better real-time performance and higher robustness compared with neural networks.

Keywords: Adaptive control; Closed-loop control; MIMO non-linear constant systems; Multi-dimensional Taylor network.