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
收藏
页码：746 / 767
页数：22
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