Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 56, Issue 7, Pages 1672-1678Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2011.2122730
Keywords
Adaptive control; backstepping; global stability; nonlinear systems; saturation
Funding
- Research Council of Norway
- IRIS
- National Creative Research Groups Science Foundation of China [NCRGSFC: 60721062]
- National Natural Science Foundation of China [NSFC: 60736021]
- The National High Technology Research and Development Program of China (863 Program) [2008AA042902]
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In this technical note, we consider adaptive control of single input uncertain nonlinear systems in the presence of input saturation and unknown external disturbance. By using backstepping approaches, two new robust adaptive control algorithms are developed by introducing a well defined smooth function and using a Nussbaum function. The Nussbaum function is introduced to compensate for the nonlinear term arising from the input saturation. Unlike some existing control schemes for systems with input saturation, the developed controllers do not require assumptions on the uncertain parameters within a known compact set and a priori knowledge on the bound of the external disturbance. Besides showing global stability, transient performance is also established and can be adjusted by tuning certain design parameters.
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