Adaptive Robust Control of a Class of Multivariable Nonlinear Systems

Abstract This paper considers the adaptive robust control of a class of multi-input multi-output (MIMO) non linear systems with arbitrary known relative degrees transformable to a semi-strict feedback form. The form allows parametric uncertainties, unknown nonlinear functIons such as modeling errors and external disturbances. Parametric uncertainties can appear in the input channels. The last layer's state equations do not have to be completely linearly parametrized. The method achieves a guaranteed transient performance and a prescribed final tracking accuracy in the presence of both parametric uncertainties and unknown nonlinear functions. In addition, the method achieves asymptotic stability in the presence of parametric uncertainties without using high-gain feedback control. The applications of the method include the motion and force tracking control of robot manipulators in contact with unknown stiffness environments.

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