Localized adaptive control for a class of MIMO nonlinear systems

Localized robust adaptive control was proposed for a class of uncertain multiple-input-multiple-output nonlinear systems. The proposed method used command filtering backstepping method to design virtual control law. Localized approximators were used to approximate unknown functions online. Spectral radius introduction avoided the assumption that the control coefficient matrix estimation must be nonsingular. The inherent approximation errors and external disturbances were compensated by adaptive bounding control. Localized σ-modification guaranteed boundedness of bounding parameter estimation and overcame the global forgetting. It was proved that the proposed control method can guarantee boundedness of all signals in the closed-loop system. Simulation examples demonstrated the effectiveness of the proposed method.