Adaptive estimation and control for uncertain nonlinear systems and full actuation control  

作　　者：Fei YAN Mingyuan ZHANG Guoxiang GU 

机构地区：[1]School of Information Science and Technology,Southwest Jiaotong University,Chengdu 611756,China [2]School of Electrical Engineering and Computer Science,Louisiana State University,Baton Rouge LA 70803,USA

出　　处：《Science China(Information Sciences)》2023年第11期165-180,共16页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China(Grant No.61873215);Natural Science Foundation of Sichuan Province(Grant No.2022NSFSC0470)。

摘　　要：We study adaptive control for a family of nonlinear systems,involving unknown and uncertain parameters.The proposed control law estimates the system parameters adaptively and stabilizes the closedloop system asymptotically for the initial state over any given bounded set of the state-space.Moreover,reconstruction filters are designed to obtain error residue signals and to enable the use of the least-squares algorithm for estimating the parameters,in order to achieve the convergence based on the persistent excitation condition and asymptotic linearization.The proposed methods are applicable to full actuation and under actuation control systems.Simulation studies are carried out for a pendulum system and for a third-order vehicle model,as well as control of vehicle platoons,validating the theoretical results presented in this paper.

关 键 词：adaptive control asymptotic stabilization full actuation and under actuation LEAST-SQUARES NONLINEARSYSTEMS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]