摘要
A new output feedback adaptive control scheme for multi-input and multi-output nonlinear systems with parametric uncertainty is presented based on the Nussbaum gain method and the backstepping approach. The high frequency gain matrix of the linear part of the system is not necessarily positive definite, but can be transformed into a lower or upper triangular matrix whose signs of diagonal dements are unknown. The new required condition for the high fi＇equency gain matrix can be easily checked for certain plants so that the proposed method is widely applicable. The global stability of the closed loop systems is guaranteed through this control scheme, at the same time the tracking error converges to zero.
A new output feedback adaptive control scheme for multi-input and multi-output nonlinear systems with parametric uncertainty is presented based on the Nussbaum gain method and the backstepping approach. The high frequency gain matrix of the linear part of the system is not necessarily positive definite, but can be transformed into a lower or upper triangular matrix whose signs of diagonal dements are unknown. The new required condition for the high fi＇equency gain matrix can be easily checked for certain plants so that the proposed method is widely applicable. The global stability of the closed loop systems is guaranteed through this control scheme, at the same time the tracking error converges to zero.
基金
This project was supported by the National Natural Science Foundation of China (60574007).
作者简介
Zhou Ying was born in 1978. She received her M.S. degree from Quill Normal University in 2003. She is currently a Ph.D. student in Research Institute of Automation, Southeast University. Her research interests are adaptive control and variable structure control. E-mail： autozhouy@ 163.comWu Yuqiang was born in 1962. He received the Ph.D.degree in Automatic Control from Southeast University in 1994. Now, he is a professor, doctoral director at the Research Institute of Automation, Qufu Normal University. His research interests are adaptive control, variable structure control, switched system control and process control.
