Robust adaptive control for a class of uncertain strict-feedback nonlinear systems

被引：48

作者：

Hong, F. ^{[2
]}

Ge, S. S. ^{[1
]}

Ren, B. ^{[1
]}

Lee, T. H. ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

[2] ASTAR, Data Storage Inst, Singapore 117608, Singapore

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2009年 / 19卷 / 07期

关键词：

robust adaptive control; Nussbaum functions; nonlinear uncertain systems; VIRTUAL CONTROL COEFFICIENTS; UNKNOWN CONTROL DIRECTIONS; TRACKING; DESIGN; FORM;

D O I：

10.1002/rnc.1347

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, robust adaptive control is presented for a class of perturbed strict-feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require the a priori knowledge of the signs of the unknown control coefficients. For the first time, the key technical Lemma is proven when the Nussbaum function is chosen by N (zeta) = zeta(2) cos(zeta), based on which the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals. Simulation results show the validity of the proposed scheme. Copyright (C) 2008 John Wiley & Sons, Ltd.

引用

页码：746 / 767

页数：22

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