Adaptive asymptotic stabilization of a class of unknown nonlinear systems with specified convergence rate

作者：Zhang, Jin-Xi; Yang, Guang-Hong^*

来源：International Journal of Robust and Nonlinear Control, 2019, 29(1): 238-251.

DOI：10.1002/rnc.4384

• adaptive control
• asymptotic stabilization
• nonlinear systems
• unknown nonlinearities

This paper focuses on the asymptotic stabilization problem for a class of multivariable nonlinear systems with relative degree one, practical examples of which incorporate the liquid level control of water tanks, and the speed control of interconnected carts. The presence of the unknown (other than uncertain) additive and multiplicative nonlinearities renders asymptotic stability difficult to be achieved by the existing robust control methods. To conquer this obstacle, a novel adaptive control strategy is proposed. In the control design, the state constraint technique is newly introduced to the adaptive design to generate a proper control gain to compensate for unknown nonlinearities, instead of the use of extra approximating structures. By this means, both the prescribed transient performance regarding the convergence rate and the expected asymptotic stability are preserved. Finally, simulation results are given to illustrate the established theoretical findings.

• 出版日期2019-1-10
• 单位流程工业综合自动化国家重点实验室; 东北大学