For a class of systems with unmodeled dynamics, robust adaptive stabilization problemis considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introduci...For a class of systems with unmodeled dynamics, robust adaptive stabilization problemis considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Basedon the system, a reduced-order adaptive backstepping controller design scheme is given. It is provedthat all the signals in the adaptive control system are globally uniformly bounded, and the regulationerror converges to zero asymptotically. Due to the order deduction of the controller, the design schemein this paper has more practical values. A simulation example further demonstrates the e?ciency ofthe control scheme.展开更多
文摘For a class of systems with unmodeled dynamics, robust adaptive stabilization problemis considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Basedon the system, a reduced-order adaptive backstepping controller design scheme is given. It is provedthat all the signals in the adaptive control system are globally uniformly bounded, and the regulationerror converges to zero asymptotically. Due to the order deduction of the controller, the design schemein this paper has more practical values. A simulation example further demonstrates the e?ciency ofthe control scheme.
