Adaptive output feedback stabilisation for planar nonlinear systems with unknown control coefficients

摘要

The paper is concerned with the global adaptive stabilisation via output feedback for a class of uncertain planar nonlinear systems. Remarkably, the unknowns in the systems are rather serious: the control coefficients are unknown constants which do not belong to any known interval, and the growth of the systems heavily depends on the unmeasured states and has the rate of unknown polynomial of output. First, a delicate state transformation is introduced to collect the unknown control coefficients, and subsequently, a suitable state observer is successfully designed with two different dynamic gains. Then, an adaptive output feedback controller is proposed by flexibly combining the universal control idea and the backstepping technique. Meanwhile, an appropriate estimation law is constructed to overcome the negative effect caused by the unknown control coefficients. It is shown that, with the appropriate choice of the design parameters, all the states of the resulting closed-loop system are globally bounded, and furthermore, the states of the original system converge to zero.