DOI 10.17586/0021-3454-2025-68-4-303-309
UDC 681.5
ADAPTIVE CONTROL OF MULTICHANNEL NONLINEAR SYSTEMS WITH UNACCOUNTED DYNAMICS UNDER DISTURBANCES
ITMO University, Faculty of Control Systems and Robotics;
O. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
Abstract. The problem of adaptive control of multichannel nonlinear systems with unaccounted input dynamics under parametrically uncertain disturbances is considered. It is shown how the approach based on a “post-processing” adjustable internal model can be used to provide compensation for harmonic external disturbances. The adaptation algorithm is synthesized based on the stability analysis of the closed system using Lyapunov functions.
Acknowledgement: This work was carried out with the financial support of the Russian Science Foundation (project No. 25-29-00713).
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