A unified time-varying feedback approach and its applications in adaptive stabilization of high-order uncertain nonlinear systems ☆

• Zong-Yao Sun ^[1] ; Ting Li ^[1] ; Shao-Hua Yang ^[1]
  1. [1] Qufu Normal University

     Qufu Normal University

     China

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 70, 2016, págs. 249-257
• Idioma: inglés
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• Resumen

  • We are concerned with two key problems of adaptive control design: one is to find the feasible conditions and the valid boundary of the time-varying feedback scheme; another one lies in the improved generalization of the homogeneous idea in the global adaptive stabilization of high-order uncertain nonlinear systems. The distinguished feature of the system to be investigated is the serious coexistence between unknown time-varying parameters and unknown time-varying control coefficients. Design procedures of the continuous controller are provided based on the sign function technique and the delicate search of the time-varying function and a Lyapunov function. Finally, the control of uncertain single-link robotic manipulator demonstrates the application of design scheme.