Adaptive control of a class of strict-feedback time-varying nonlinear systems with unknown control coefficients

• Autores: Jiangshuai Huang, Wei Wang, Changyun Wen, Jing Zhou
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 93, 2018, págs. 98-105
• Idioma: inglés
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• Resumen

  • In this paper, robust adaptive control of a class of strict-feedback nonlinear systems with unknown control directions is investigated. A novel Nussbaum-type function is developed and a key theorem is drawn which involves quantifying the addition of multiple Nussbaum functions with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of system output are proved. A simulation example is given to illustrate the effectiveness of the proposed control scheme.