This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic uncertainties.The requirement of a priori knowledge of control directions is removed and the inverse...This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic uncertainties.The requirement of a priori knowledge of control directions is removed and the inverse dynamics satisfy the weaker integral input-to-state stable condition.By application of the changing supply rates and the Nussbaum-type gain techniques,a partial state-feedback regulator is constructed.The main results demonstrate that the designed controller ensures the system state converges to the origin whereas the other signals of the closed-loop system are bounded. Simulation results are illustrated to show the effectiveness of the proposed approach.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.60674027, 60974127,and 60904022the Key Project Foundation of the Educational Ministry under Grant No.208074the Innovation Program of Graduate Students of Jiangsu Province of China under Grant No.CXZZ11_0155
文摘This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic uncertainties.The requirement of a priori knowledge of control directions is removed and the inverse dynamics satisfy the weaker integral input-to-state stable condition.By application of the changing supply rates and the Nussbaum-type gain techniques,a partial state-feedback regulator is constructed.The main results demonstrate that the designed controller ensures the system state converges to the origin whereas the other signals of the closed-loop system are bounded. Simulation results are illustrated to show the effectiveness of the proposed approach.
