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For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is considered 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. 相似文献
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For a class of nonlinear systems with dynamic uncertainties,
robust adaptive stabilization problem is considered 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. 相似文献
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