Adaptive control for unknown HOFA nonlinear systems without overparametrization
Cungen Liu, Xiaoping Liu, Huanqing Wang, Yucheng Zhou, Chuang Gao
Abstract
Summary The problem of adaptive control is investigated for unknown mixed high‐order fully actuated (HOFA) nonlinear systems. To deal with the parametric uncertainties, the tuning function is utilized to design an adaptive update law without parameter overestimation. Based on the full‐actuation feature of HOFA nonlinear systems and Lyapunov stability theory, an adaptive controller is constructed and its stability is analyzed. Finally, the effectiveness of the control strategy is verified by simulation results.
Topics & Concepts
Control theory (sociology)Nonlinear systemAdaptive controlLyapunov functionParametric statisticsController (irrigation)Stability (learning theory)Lyapunov stabilityComputer scienceControl (management)Control engineeringMathematicsEngineeringArtificial intelligencePhysicsQuantum mechanicsAgronomyStatisticsMachine learningBiologyAdaptive Control of Nonlinear SystemsAdvanced Control Systems OptimizationStability and Control of Uncertain Systems