Adaptive output feedback stabilization for a class of nonlinear systems with inherent nonlinearities and uncertainties

摘要

This paper investigates the problem of adaptive stabilization by output feedback for a class of uncertain nonlinear systems. The distinguishing feature of such a class of systems is the presence of uncertain control coefficient and unmeasured states dependent growth with growth rate of polynomial-of-output multiplying an unknown constant. First, new high-gain K-filters with two dynamic gains are introduced, and an appropriate state observer is constructed based on the K-filters. Then, motivated by the universal control idea, the backstepping scheme is successfully developed for the adaptive output feedback control design. By appropriate choice of the design parameters, the global stability of the closed-loop system can be guaranteed. Finally, numerical simulations are provided to illustrate the correctness of the theoretical results.