A unified time-varying feedback approach and its applications in adaptive stabilization of high-order uncertain nonlinear systems. (August 2016)

• Record Type: Journal Article
• Authors: Sun, Zong-Yao; Li, Ting; Yang, Shao-Hua
• Is Part Of: Automatica. Volume 70(2016)
• Page Start: 249
• Page End: 257
• Publication Date: 2016-08
• Subjects: Time-varying feedback -- High-order uncertain nonlinear system -- Unknown control coefficients; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2016.04.010
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: 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.