Adaptive control of a class of strict-feedback time-varying nonlinear systems with unknown control coefficients

• Main Authors: Huang, Jiangshuai, Wang, Wei, Wen, Changyun, Zhou, Jing
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Adaptive Control; Unknown Control Directions
• Online Access: https://hdl.handle.net/10356/137801
• Institution: Nanyang Technological University

In this paper, robust adaptive control of a class of strict-feedback nonlinear systems with unknown control directions is investigated. A novel Nussbaum-type function is developed and a key theorem is drawn which involves quantifying the addition of multiple Nussbaum functions with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of system output are proved. A simulation example is given to illustrate the effectiveness of the proposed control scheme.