Robust adaptive output stabilization using dynamic normalizing signal

• 作 者: Haixia SU Xuejun XIE Haikuan LIU
• 机 构: School of Electrical Engineering & Automation,Xuzhou Normal University,Xuzhou Jiangsu 221116,China;I
• 出 处: 控制理论与应用（英文版）
• 发表日期: 2007年1期
• 关键词: Unmodeled dynamics Exp-ISpS Dynamic normalizing signal Backstepping Adaptive con

For a class of nonlinear systems with dynamic uncertainties,robust adaptive stabilization problem is considered in this paper.Firstly,by introducing an observer,an augmented system is obtained.Based on the system,we construct an exp-ISpS Lyapunov function for the unmodeled dynamics,prove that the unmodeled dynamics is exp-ISpS,and then obtain a dynamic normalizing signal to counteract the dynamic disturbances.By the backstepping technique,an adaptive controller is given,it is proved that all the signals in the adaptive control system are globally uniformly ultimately bounded,and the output can be regulated to the origin with any prescribed accuracy.A simulation example further demonstrates the efficiency of the control scheme.