Global strong stabilization for a class of high-order nonlinear systems with unknown control directions

摘要

This paper discusses the global strong stability for a class of high-order nonlinear systems with unknown control directions. Due to the uncertainty of control directions, this paper designs a Lyapunov-based logic switching rule and an adaptive switching controller with a switching parameter which is to be tuned online. The obtained controller guarantees that the derivative of Lyapunov function is less than a negative definite function and the closed-loop system is globally strongly stable. Finally, two simulation examples illustrate the effectiveness of the proposed control method.