Adaptive Control of Uncertain Pure-feedback Nonlinear Systems
This work provides a theoretical solution to a challenging control problem for nonlinear systems, but it is incremental as it extends existing adaptive backstepping and high-gain techniques to a specific class of systems.
The paper proposes a novel adaptive control approach for globally asymptotic stabilization of uncertain pure-feedback nonlinear systems with non-linearly parameterised uncertainties and unknown control coefficients. The method guarantees boundedness of closed-loop signals and asymptotic stabilization for any initial condition, demonstrated through numerical and realistic examples.
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback nonlinear system under consideration is with non-linearly parameterised uncertainties and possibly unknown control coefficients. Based on the parameter separation technique, a backstepping controller is designed by adopting the adaptive high gain idea. The rigorous stability analysis shows that the proposed controller could guarantee, for any initial system condition, boundedness of the closed-loop signals and globally asymptotic stabilization of the state. A numerical and a realistic examples are employed to demonstrate the effectiveness of the proposed control method.