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For a class of nonlinear systems with dynamic uncertainties,robust adaptive stabilization problem is consid-ered 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.
For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is consid-ered 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 systems are uniformly globally ultimately ultimately ultimately ultimately ultimately globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally globally A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A