A framework for stability analysis of high-order nonlinear systems based on the CMAC method

• 作 者: Tiantian JIANG Hongxin WU
• 机 构: Science and Technology on Space Intelligent Control Laboratory,Beijing Institute of Control Engineer
• 出 处: Science China(Information Sciences)
• 发表日期: 2016年11期
• 关键词: CMAC consistency golden boundedness quantitatively satisfy sampled admissible co

A framework for analyzing the stability of a class of high-order minimum-phase nonlinear systems of relative degree two based on the characteristic model-based adaptive control(CMAC) method is presented. In particular, concerning the tracking problem for such high-order nonlinear systems, by introducing a consistency condition for quantitatively describing modeling errors corresponding to a group of characteristic models together with a certain kind of CMAC laws, we prove closed-loop stability and show that such controllers can make output tracking error arbitrarily small. Furthermore, following this framework, with a specific characteristic model and a golden-section adaptive controller, detailed sufficient conditions to stabilize such groups of highorder nonlinear systems are presented and, at the same time, tracking performance is analyzed. Our results provide a new perspective for exploring the stability of some high-order nonlinear plants under CMAC, and lay certain theoretical foundations for practical applications of the CMAC method.

A framework for analyzing the stability of a class of high-order minimum-phase nonlinear systems of relative degree two based on the characteristic model-based adaptive control (CMAC) method is presented. In particular, concerning the tracking problem for such high-order nonlinear systems, by introducing a consistency condition for quantitatively describing modeling errors corresponding to a group of characteristic models together with a certain kind of CMAC laws, we prove closed-loop stability and show that such controllers can make output tracking error arbitrarily small. following this framework, with a specific characteristic model and a golden-section adaptive controller, detailed sufficient conditions to stabilize such groups of highorder nonlinear systems are presented and, at the same time, tracking performance is analyzed. the stability of some high-order nonlinear plants under CMAC, and lay certain theoretical fo undations for practical applications of the CMAC method.