文章基本信息

标题：L 1 adaptive output feedback control for underactuated MIMO systems
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作者：Hanmin Lee ; Venanzio Cichella ; Naira Hovakimyan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5510-5515
DOI：10.1016/j.ifacol.2017.08.1091
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the problem of output feedback control for underactuated (non-square) MIMO systems with unknown input gain and matched uncertainties. TheL1adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass filter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims.
关键词：KeywordsAdaptive controloutput feedback controldisturbance rejection