Global asymptotic regulation control for MIMO mechanical systems with unknown model parameters and disturbances

A global asymptotic regulation control scheme based on the adaptive disturbance estimation is proposed for the MIMO mechanical systems with unknown model parameters and disturbances. By transforming the motion model of the mechanical system and the disturbances into the parametric forms, respectively, the disturbance rejection control for the MIMO mechanical systems is converted into the adaptive control problem. The robust adaptive control law is then designed using the adaptive backstepping method. Stability analysis shows that the designed control law achieves the global asymptotic regulation of the output vector. Simulations on regulation control of two marine vessels verify the effectiveness of the proposed control scheme.

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