Systematic Design of Adaptive Controllers for Feedback Linearizable Systems

摘要

A systematic procedure is developed for the design of adaptive regulation schemesfor a class of feedback linearizable nonlinear systems. The coordinate-free geometric conditions, which characterize this class of systems, neither restrict the location of the unknown parameters, nor constrain in any way the growth of the nonlinearities. Instead, they require that the nonlinear system be transformable into the so-called pure-feedback form. This becomes now the broadest class of nonlinear systems for which an adaptive regulation scheme can be systematically designed. We also show that, under additional conditions, global stability properties can be established. (RH)