A framework for stability analysis of high-order nonlinear systems based on the CMAC method

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• 作者：Tiantian Jiang ; Hongxin Wu
• 关键词：characteristic model ; characteristic model ; based adaptive control (CMAC) ; consistency condition ; stability ; high ; order nonlinear system
• 刊名：SCIENCE CHINA Information Sciences
• 出版年：2016
• 出版时间：November 2016
• 年：2016
• 卷：59
• 期：11
• 全文大小：553 KB
• 刊物类别：Computer Science
• 刊物主题：Chinese Library of Science
  Information Systems and Communication Service
  
• 出版者：Science China Press, co-published with Springer
• ISSN：1869-1919
• 卷排序：59

文摘

A framework for analyzing the stability of a class of high-order minimum-phase nonlinear systems of relative degree two based on the characteristic model-based adaptive control (CMAC) method is presented. In particular, concerning the tracking problem for such high-order nonlinear systems, by introducing a consistency condition for quantitatively describing modeling errors corresponding to a group of characteristic models together with a certain kind of CMAC laws, we prove closed-loop stability and show that such controllers can make output tracking error arbitrarily small. Furthermore, following this framework, with a specific characteristic model and a golden-section adaptive controller, detailed sufficient conditions to stabilize such groups of highorder nonlinear systems are presented and, at the same time, tracking performance is analyzed. Our results provide a new perspective for exploring the stability of some high-order nonlinear plants under CMAC, and lay certain theoretical foundations for practical applications of the CMAC method.