Adaptive Tracking Control of Nonlinear Systems with Unmodeled Dynamics and Unknown Gain Sign

被引：0
作者：
Gao, Zhiyuan [1 ]
Zhang, Tianping [1 ]
Yang, Yuequan [1 ]
机构：
[1] Yangzhou Univ, Dept Automat, Coll Informat Engn, Yangzhou 225127, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATION | 2013年 / 254卷
基金：
中国国家自然科学基金;
关键词：
Strict feedback systems; Adaptive neural control; Dynamic signal; Nussbaum function; NEURAL-CONTROL; DELAY SYSTEMS; UNCERTAINTIES;
D O I：
10.1007/978-3-642-38524-7_11
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on backstepping design, a novel adaptive tracking control scheme is proposed for a class of strict feedback nonlinear systems with unmodeled dynamics and completely unknown function control gain in this paper. An available dynamic signal is used to dominate the unmodeled dynamics. The unknown virtual control gain signs are dealt with using the property of Nussbaum function. The controller singularity problem is avoided using integral Lyapunov function. By theoretical analysis, the closed-loop systems is proved to be semi-global uniformly ultimately bounded.
引用
收藏
页码：107 / 118
页数：12
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