Robust adaptive nonlinear controller desing for uncertain nonlinear systems

摘要

Assuming whether input vector field is affected by constant uncertain parameters or not, this paper introlduces two robust adaptive output tracking methods for a class of SISO uncertain nonlinear systems with uncertainties which are due both to constant uncertain parameters entering linearly and to unmodeled dynamics comprised in a boundary range, via input-output feedback linearizations by state feedback. For such methods, while two control schemes to be designed externally follow indirect adaptive control process based on a combined local-domain of state variable vector and parameter estimates without causing no overparameterization for unknown constant parameters, they have two different internal structures, i.e.indirect and direct feedback linearization procedures, owing to two assumptions on input vector filed.