Adaptive output feedback stabilization for a class of nonlinear systems with inherent nonlinearities and uncertainties. (English) Zbl 1213.93178
Summary: This paper investigates the problem of adaptive stabilization by output feedback for a class of uncertain nonlinear systems. The distinguishing feature of such a class of systems is the presence of uncertain control coefficient and unmeasured states dependent growth with growth rate of polynomial-of-output multiplying an unknown constant. First, new high-gain K-filters with two dynamic gains are introduced, and an appropriate state observer is constructed based on the K-filters. Then, motivated by the universal control idea, the backstepping scheme is successfully developed for the adaptive output feedback control design. By appropriate choice of the design parameters, the global stability of the closed-loop system can be guaranteed. Finally, numerical simulations are provided to illustrate the correctness of the theoretical results.
MSC:
| 93D15 | Stabilization of systems by feedback |
| 93C10 | Nonlinear systems in control theory |
| 93D21 | Adaptive or robust stabilization |
| 93C40 | Adaptive control/observation systems |
| 93C41 | Control/observation systems with incomplete information |
Keywords:
nonlinear systems; uncertain control coefficient; output feedback; adaptive control; dynamic high-gain K-filters; backsteppingReferences:
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