Direct adaptive control for nonlinear uncertain system based on control Lyapunov function method

Chen Yimei1 2, Han Zhengzhi2 & Tang Houjun2

1. Dept. of Automation, Tianjin Polytechnic Univ. , Tianjin 300160, P. R China;

2. School of Electronic Information & Electrical Engineering, Shanghai Jiaotong Univ. , Shanghai 200030, P. R. China

Abstract:

The problem of adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters

both in the state vector-field and the input vector-field has been considered. By employing the control Lyapunov

function method, a direct adaptive controller is designed to complete the global adaptive stability of the uncertain

system. At the same time, the controller is also verified to possess the optimality. Example and simulations are

provided to illustrate the effectiveness of the proposed method.

Key words:

adaptive control, control Lyapunov function, nonlinear uncertain system, optimality

. [J]. Journal of Systems Engineering and Electronics, 2006, 17(3): 619-623.

Chen Yimei, Han Zhengzhi & Tang Houjun.

Direct adaptive control for nonlinear uncertain system based on control Lyapunov function method

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