Safety-constrained robust adaptive control for a class of MIMO non-linear systems - Sachan, Kapil; Padhi, Radhakant (IET control theory & applications, 2020)
Keywords: adaptive control; asymptotic stability; auxiliary observer states; closed loop systems; closed‐loop nonlinear error dynamics; closed‐loop states; constrained environment; control designs; control system synthesis; external disturbances; finite‐time exponentially stable tracking controllers; Lyapunov methods; manipulators; MIMO nonlinear systems; MIMO systems; multiinput multioutput nonlinear systems; neural network‐based auxiliary observer dynamics; neurocontrollers; nonlinear control systems; novel error transformation; observers; Research Article; robust control; robust Lyapunov stable weight update rule; safety‐constrained robust adaptive control; safety‐constrained robust indirect adaptive control schemes; state constraints; steady‐state tracking error; system states; uncertain systems; unstructured additive model uncertainties; novel error transformation; closed-loop nonlinear error dynamics; manipulators; multiinput multioutput nonlinear systems; MIMO nonlinear systems; asymptotic stability; state constraints; neurocontrollers; system states; robust control; external disturbances; robust Lyapunov stable weight update rule; safety-constrained robust adaptive control; control designs; uncertain systems; adaptive control; control system synthesis; finite-time exponentially stable tracking controllers; neural network-based auxiliary observer dynamics; auxiliary observer states; steady-state tracking error; MIMO systems; closed loop systems; safety-constrained robust indirect adaptive control schemes; nonlinear control systems; constrained environment; closed-loop states; observers; unstructured additive model uncertainties; Lyapunov methods