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Safety-constrained robust adaptive control for a class of MIMO non-linear systems

Sachan, KNV and Padhi, R (2020) Safety-constrained robust adaptive control for a class of MIMO non-linear systems. In: IET Control Theory and Applications, 14 (7). pp. 982-990.

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Official URL: https://dx.doi.org/10.1049/iet-cta.2019.0652


This study proposes two new safety-constrained robust indirect adaptive control schemes for a class of multi-inputmulti-output non-linear systems subject to unstructured additive model uncertainties and external disturbances. The controllersare designed using a novel error transformation and a new asymptotically stable closed-loop non-linear error dynamics. Themodel uncertainties of the actual system are approximated by constructing a neural network-based auxiliary observer dynamics.The weights of the neural network are updated using a robust Lyapunov stable weight update rule. Using the estimationinformation of model uncertainties, two different asymptotically and finite-time exponentially stable tracking controllers aredesigned to minimise the error between auxiliary observer states and reference signals. It is proven that the closed-loop statesof the actual system will remain bounded by the imposed state constraints and the steady-state tracking error of the system willconverge asymptotically (or exponentially in finite time) to a user-defined domain. The beauty of the proposed control designslies in the fact that they are easy to design and implement, and provide design freedom to impose constraints on an individualcomponent of the system states. The effectiveness of the proposed techniques is shown by controlling a two-link robotmanipulator in a constrained environment. © The Institution of Engineering and Technology 2020.

Item Type: Journal Article
Publication: IET Control Theory and Applications
Publisher: Institution of Engineering and Technology
Additional Information: Copy right for this article belongs to Institution of Engineering and Technology
Keywords: Errors; Linear systems; Linear transformations; Nonlinear systems; Uncertainty analysis, Asymptotically stable; Design and implements; Error transformation; Exponentially stable; External disturbances; Indirect adaptive control; Robust-adaptive control; Steady state tracking, Adaptive control systems
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 06 Oct 2020 11:04
Last Modified: 06 Oct 2020 11:04
URI: http://eprints.iisc.ac.in/id/eprint/65351

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