In this paper, the universal adaptive control problem for a class of uncertain nonlinear systems is solved by the output feedback control approach. Firstly, a homogenous high-gain observer is proposed to estimate the system states based on the homogenous theory. Then, by using adding one power integrator method, a homogeneous controller is designed. It can be shown that all signals of the whole system are bounded and at the same time the system states globally asymptotically converge to the origin. In the end, we extend the proposed method to a class of upper-triangular nonlinear systems. Two examples are provided to illustrate the effectiveness of the proposed method.
Universal adaptive control for uncertain nonlinear systems via output feedback
Karimi H. R.
2019-01-01
Abstract
In this paper, the universal adaptive control problem for a class of uncertain nonlinear systems is solved by the output feedback control approach. Firstly, a homogenous high-gain observer is proposed to estimate the system states based on the homogenous theory. Then, by using adding one power integrator method, a homogeneous controller is designed. It can be shown that all signals of the whole system are bounded and at the same time the system states globally asymptotically converge to the origin. In the end, we extend the proposed method to a class of upper-triangular nonlinear systems. Two examples are provided to illustrate the effectiveness of the proposed method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.