Brief paper: Adaptive state-feedback stabilization for a class of high-order nonlinear uncertain systems

Authors:
Zongyao Sun;Yungang Liu
Affiliations:
School of Control Science and Engineering, Shandong University, Jinan 250061, China;School of Control Science and Engineering, Shandong University, Jinan 250061, China
Venue:
Automatica (Journal of IFAC)
Year:
2007

Citing 7
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Abstract

For high-order nonlinear uncertain systems, there have been a lot of investigations under a strong assumption that the lower bounds of the unknown control coefficients should be exactly known. In this paper, this assumption is removed and a unified approach is developed to systematically construct a state-feedback adaptive stabilizing control law for a class of high-order nonlinear uncertain systems with unknown control coefficients. By using the method of the so-called adding a power integrator merging with adaptive technique, a recursive design procedure is provided to achieve a smooth adaptive state-feedback control law, which guarantees that the closed-loop system is globally uniformly stable while the original system states globally asymptotically converge to zero. Finally, a simulation example is given to illustrate the correctness of the theoretical results.