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A decoupled adaptive control algorithm for global state feedback stabilization of a class of nonlinear systems
Author(s) -
Liu ZhenGuo,
Wu YuQiang
Publication year - 2015
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2531
Subject(s) - backstepping , control theory (sociology) , nonlinear system , bounded function , adaptive control , controller (irrigation) , estimator , class (philosophy) , mathematics , state (computer science) , computer science , control (management) , algorithm , artificial intelligence , quantum mechanics , mathematical analysis , statistics , physics , agronomy , biology
Summary A decoupled adaptive control algorithm, namely the combined dynamic gain and adaptive homogeneous domination approach, is introduced to solve the global state feedback stabilization problem for a class of uncertain nonlinear systems. Compared with the conventional adaptive backstepping/tuning functions approach, the algorithm differs in the way of constructing the estimator and handling the nonlinear drifts, and allows the adaptive control law that is decoupled via a dynamic gain to be designed only by choosing some appropriate constants. The proposed adaptive controller guarantees that all the states of the closed‐loop system are globally bounded and the system solutions converge to zero asymptotically. Both physical and academic examples are provided to demonstrate the validness of the theory. Copyright © 2014 John Wiley & Sons, Ltd.