Tracking Control for a Class of Unknown Nonsquare MIMO Nonaffine Systems: A Deep Rooted Information Based Robust Adaptive Approach
The tracking control problem of multi input multi output (MIMO) nonaffine dynamic systems is studied in this note. A globally uniformly ultimately bounded (GUUB) stable tracking control solution for non square MIMO nonaffine systems with unknown dynamics and disturbances is established. Different from most existing methods, the proposed control design is based on the readily computable deep rooted information on the system and does not involve linearization or approximation; and the resultant control algorithms are simple in structure, inexpensive in computation, user friendly in design, and undemanding in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
IEEE Transactions on Automatic Control