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This paper considers the globally stabilizing adaptive controller design for a class of more general uncertain high-order nonlinear systems with unknown control coefficients.Although the existing literature has solved the problem,for n-dimensional systems,the existing methods need at least n + 1 dynamic updating laws for the unknown parameters to construct the stabilizing adaptive controller;that is,the dimension of the dynamic compensator is not less than n + 1,and therefore,there exists serious overparametrization.In this paper,by defining some new unknown parameters which need dynamic updating,also by using adding a power integrator and related adaptive technique,the overparametrization is successfully solved and a new approach is given to design stabilizing adaptive controller based on only one parameter updating law.A simulation example is finally provided to demonstrate the validness of the proposed approach.
This paper considers the globally stabilizing adaptive controller design for a class of more general high-order nonlinear systems with unknown control coefficients. Although the existing literature has solved the problem, for n-dimensional systems, the existing methods need at least n + 1 dynamic updating laws for the unknown parameters to construct the stabilizing adaptive controller; that is, the dimension of the dynamic compensator is not less than n + 1, and therefore, there exists serious overparametrization.In this paper, by defining some new unknown parameters which need dynamic updating, also by using adding a power integrator and related adaptive technique, the overparametrization is successfully solved and a new approach is given to design stabilizing adaptive controller based on only one parameter updating law. A simulation example is finally provided to demonstrate the validity of the proposed approach