Adaptive generalized predictive decoupling control for a class of MIMO nonlinear systems based on unmodeled dynamic compensation
Yajun Zhang · Control theory & applications · 2012
For a class of uncertain multi-input-multi-output(MIMO) discrete-time nonlinear systems with strong coupling and unstable zero-dynamics,an adaptive generalized predictive decoupling switching control method based on unmodeled dynamic compensation is proposed.It is only required that the higher order nonlinear terms of the system to satisfy a linear growth condition,rather than the global boundedness condition widely used.The analysis of stability and convergence of the adaptive control method are performed.Moreover,in designing the nonlinear generalized predictive decoupling controller,we combine the adaptive-network-based fuzzy inference system(ANFIS) training with the one-toone mapping technique to adaptively estimate the unmodeled dynamics,so that the universal approximation property of ANFIS can be guaranteed.Finally,simulation results demonstrate the superiority of the proposed method and validate the theoretical analysis.