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
Reference for citation: Zhivitsky A. Yu., Borisov O. I. Adaptive control of multichannel nonlinear systems with unaccounted dynamics under disturbances. Journal of Instrument Engineering. 2025. Vol. 68, N 4. P. 303–309 (in Russian). DOI: 10.17586/0021-3454-2025-68-4-303-309.
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.
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.
Keywords: adaptive control, internal model, nonlinear systems, unaccounted dynamics, perturbations
Acknowledgement: This work was carried out with the financial support of the Russian Science Foundation (project No. 25-29-00713).
References:
Acknowledgement: This work was carried out with the financial support of the Russian Science Foundation (project No. 25-29-00713).
References:
- Francis B., Sebakhy O.A., Wonham W.M. Applied Mathematics and Optimization, 1974, no. 1(1), pp. 64–86, DOI: 10.1007/BF01449024.
- Davison E. IEEE Transactions on Automatic Control, 1976, no. 1(21), pp. 25–34, DOI: 10.1109/TAC.1976.1101137.
- Serrani A., Isidori A., Marconi L. IEEE Transactions on Automatic Control, 2001, no. 8(46), pp. 1178–1194, DOI: 10.1109/9.940923.
- Pyrkin A., Isidori A. European Journal of Control, 2019, vol. 46, рр. 63–79, DOI: 10.1016/j.ejcon.2018.04.001.
- Borisov O., Isidori A., Pyrkin A. 2023 62nd IEEE Conference on Decision and Control (CDC), 2023, рр. 1537–1542, DOI: 10.1109/CDC49753.2023.10383343.
- Isidori A. Lectures in Feedback Design for Multivariable Systems, Springer, Cham, 2017, DOI: 10.1007/978-3-319-42031-8.
- Astolfi D., Isidori A., Marconi L., Praly L. IFAC Proceedings Volumes, 2013, no. 23(46), pp. 295–300, DOI: 10.3182/20130904-3-FR-2041.00118.
- Pyrkin A., Isidori A. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, рр. 873–878, DOI: 10.1109/CDC.2017.8263769.
