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

• CONTROL THEORY AND APPLICATION • Previous Articles Next Articles

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

Chen Yimei, Han Zhengzhi & Tang Houjun.

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

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

[1]	Cai Xiushan, Wang Xiao & Xu Xiuling. Asymptotic controllability of a class of discrete-time systems with disturbances? [J]. Journal of Systems Engineering and Electronics, 2009, 20(6): 1296-1300.
[2]	Cai Xiushan, Wang Xiaodong & Lv Ganyun. Stabilization of discrete nonlinear systems based on control Lyapunov functions [J]. Journal of Systems Engineering and Electronics, 2008, 19(1): 131-133.
[3]	Cai Xiushan, Wang Xiaodong & Zhang Haoran. Universal construction of control Lyapunov functions for a class of nonlinear systems [J]. Journal of Systems Engineering and Electronics, 2007, 18(3): 598-602.
[4]	Chen Yimei, Han Zhengzhi & Cat Xiushan. Improved forwarding control design method and its application [J]. Journal of Systems Engineering and Electronics, 2006, 17(1): 168-171.

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