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Direct adaptive control for nonlinear uncertain system based on control Lyapunov function method

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3 Author(s)
Yimei, Chen ; Dept. of Automation, Tianjin Polytechnic Univ., Tianjin 300160, P. R. China; School of Electronic Information & Electrical Engineering, Shanghai Jiaotong Univ., Shanghai 200030, P. R. China ; Zhengzhi, Han ; Houjun, Tang

The problem of adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters both in the state vector-field and the input vector-field has been considered. By employing the control Lyapunov function method, a direct adaptive controller is designed to complete the global adaptive stability of the uncertain system. At the same time, the controller is also verified to possess the optimality. Example and simulations are provided to illustrate the effectiveness of the proposed method.

Published in:

Systems Engineering and Electronics, Journal of  (Volume:17 ,  Issue: 3 )