Adaptive regulation of high-order lower-triangular systems: an adding a power integrator technique

✍ Scribed by Wei Lin; Chunjiang Qian

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 129 KB
• Volume: 39
• Category: Article
• ISSN: 0167-6911
• DOI: 10.1016/s0167-6911(99)00114-0

✦ Synopsis

In this paper, a new adaptive control technique called adding a power integrator is proposed, for a class of linearly parametrized high-order nonlinear systems that are of a lower-triangular structure, but neither feedback linearizable nor a ne in the control input. Using the adaptive adding a power integrator technique as a basic design tool, we show how to explicitly construct, in a recursive manner, a smooth adaptive controller that solves the problem of adaptive regulation with global stability. The development of the adding a power integrator technique leads to a signiÿcant relaxation on the system nonlinearities such as feedback linearizability and a neness, which are known to be two standard hypotheses made in the existing nonlinear adaptive control schemes.