Robust adaptive control for a class of uncertain strict-feedback nonlinear systems

F. Hong, S. S. Ge, B. Ren, T. H. Lee

Research output: Contribution to journalArticle

36 Scopus citations

Abstract

In this paper, robust adaptive control is presented for a class of perturbed strict-feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require the a priori knowledge of the signs of the unknown control coefficients. For the first time, the key technical Lemma is proven when the Nussbaum function is chosen by N(ζ = ζ2 cos(ζ), based on which the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals. Simulation results show the validity of the proposed scheme.

Original languageEnglish
Pages (from-to)746-767
Number of pages22
JournalInternational Journal of Robust and Nonlinear Control
Volume19
Issue number7
DOIs
StatePublished - May 10 2009

Keywords

  • Nonlinear uncertain systems
  • Nussbaum functions
  • Robust adaptive control

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