Adaptive Output‐Feedback Control of Nonlinear Systems with Multiple Uncertainties |
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| Authors: | Yaxin Huang Yungang Liu |
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| Affiliation: | School of Control Science and Engineering, Shandong University, Jinan, Shandong, China |
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| Abstract: | This paper addresses the global stabilization via adaptive output‐feedback for a class of uncertain nonlinear systems. Remarkably, the systems under investigation are with multiple uncertainties: unknown control directions, unknown growth rates and unknown input bias, and can be used to describe more physical plants. Multiple uncertainties, which usually cannot be compensated by a sole compensation technique, may give rise to big technical difficulty for controller design. To overcome such difficulty and to achieve the global stabilization, a new adaptive output‐feedback scheme is proposed in this paper, by flexibly combining Nussbaum‐type function, tuning function technique and extended state observer. It is shown that, under the designed controller, the system states globally converge to zero. A simulation example on non‐zero set‐point regulation is given to demonstrate the effectiveness of the theoretical results. |
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| Keywords: | Uncertain nonlinear systems output‐feedback unknown control directions unknown growth rates unknown input bias |
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