A robust adaptive nonlinear control design

被引：854

作者：

Polycarpou, MM ^{[1
]}

Ioannou, PA ^{[1
]}

机构：

[1] UNIV SO CALIF,DEPT ELECT ENGN SYST,LOS ANGELES,CA 90089

来源：

AUTOMATICA | 1996年 / 32卷 / 03期

关键词：

adaptive control; nonlinear systems; feedback; robust stabilization; adaptive bounds; backstepping;

D O I：

10.1016/0005-1098(95)00147-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive control design procedure for a class of nonlinear systems with both parametric uncertainty and unknown nonlinearities is presented. The unknown nonlinearities lie within some 'bounding functions', which are assumed to be partially known. The key assumption is that the uncertain terms satisfy a 'triangularity condition'. As illustrated by examples, the proposed design procedure expands the class of nonlinear systems for which global adaptive stabilization methods can be applied. The overall adaptive scheme is shown to guarantee global uniform ultimate boundedness.

引用

页码：423 / 427

页数：5

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