A decoupled adaptive control algorithm for global state feedback stabilization of a class of nonlinear systems

摘要

A decoupled adaptive control algorithm, namely the combined dynamic gain and adaptive homogeneous domination approach, is introduced to solve the global state feedback stabilization problem for a class of uncertain nonlinear systems. Compared with the conventional adaptive backstepping/tuning functions approach, the algorithm differs in the way of constructing the estimator and handling the nonlinear drifts, and allows the adaptive control law that is decoupled via a dynamic gain to be designed only by choosing some appropriate constants. The proposed adaptive controller guarantees that all the states of the closed-loop system are globally bounded and the system solutions converge to zero asymptotically. Both physical and academic examples are provided to demonstrate the validness of the theory. Copyright (c) 2014 John Wiley & Sons, Ltd.