一类具有未知控制方向非线性系统的输出反馈自适应控制

研究了一类控制方向未知非线性系统的输出反馈自适应镇定问题. 首先, 通过一线性状态变换, 将未知控制系数集中起来, 从而将原系统变换为适于控制设计的新系统. 然后, 分别引入状态观测器和参数估计器, 并应用积分反推和调节函数方法, 给出了输出反馈稳定控制律的构造性设计过程. 可以证明，所设计的控制器确保原系统状态渐近收敛到原点, 而其它闭环系统状态有界. 仿真结论验证了所提出方法的有效性.

Output-feedback Adaptive Control for a Class of Nonlinear Systems with Unknown Control Directions

In this paper,output-feedback adaptive stabilization is investigated for a class of nonlinear systems with unknown control directions.First,through a linear state transformation,the unknown control coefficients are lumped together and the original system is transformed to a new system for which control design becomes feasible.Then,after the introduction of an observer and an estimator for state and parameter estimates,respectively,a constructive design procedure is given for the output-feedback adaptive stabilizing controller using integrator backstepping and tuning function techniques.It is shown that the controller designed ensures the original system state converges to the origin whereas all the other closed-loop system states are bounded.Simulation results are illustrated to show the effectiveness of the proposed approach.