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Direct adaptive control for nonlinear uncertain system based on control Lyapunov function method
Authors:Chen Yimei  Han Zhengzhi  Tang Houjun
Affiliation:1. Dept. of Automation, Tianjin Polytechnic Univ., Tianjin 300160, P. R. China;2. School of Electronic Information & Electrical Engineering, Shanghai Jiaotong Univ., Shanghai 200030, P. R. China;1. Rutgers University, Department of Human Ecology, USA;2. Iowa State University, Department of Sociology, USA;3. University of Vermont, Department of Nutrition and Food Sciences and Food Systems Program, USA;1. Department of Cardiothoracic Surgery, University Hospital of Cologne, Cologne, Germany;2. Department of Organic Chemistry, Friedrich Schiller University Jena, Jena, Germany;3. Department of Experimental Medicine, University Hospital of Cologne, Cologne, Germany;1. School of Energy and Power Engineering, Jiangsu University, Zhenjiang, 212013, China;2. Mechanical Engineering Department, University College London, London, WC1E 7JE, UK;1. Institute of Geophysics ASCR, Boční II 1a/1401, Prague, Czech Republic;2. Centre for Lithospheric Research, Czech Geological Survey, Prague, Czech Republic;3. Faculty of Science, Charles University in Prague, Albertov 6, 128 43 Praha 2, Czech Republic;4. Department of Earth Sciences, Shiraz University, Shiraz, Iran
Abstract: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.
Keywords:adaptive control  control Lyapunov function  nonlinear uncertain system  optimality
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