Global adaptive regulation control for a class of nonlinear systems with unknown control coefficients

摘要

This paper is concerned with the global asymptotic regulation control problem for a class of nonlinear uncertain systems with unknown control coefficients. The allowed class of uncertainties include unmeasured input-to-state stable (ISS) and/or weaker integral ISS (iISS) inverse dynamics, parametric uncertainties, and uncertain nonlinearities. By using the Nussbaum-type gain technique and changing the ISS/integral ISS inverse dynamics supply rates, we design a dynamic output feedback controller which could guarantee that the system states are asymptotically regulated to the origin from any initial conditions, and the other signals are bounded in closed-loop systems. The numerical example of a simple pendulum with all unknown parameters and without velocity measurement illustrates our theoretical results. The simulation results demonstrate its efficacy. Copyright (C) 2015 John Wiley & Sons, Ltd.