期刊
AUTOMATICA
卷 70, 期 -, 页码 249-257出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2016.04.010
关键词
Time-varying feedback; High-order uncertain nonlinear system; Unknown control coefficients
资金
- National Natural Science Foundation of China [61374004]
We are concerned with two key problems of adaptive control design: one is to find the feasible conditions and the valid boundary of the time-varying feedback scheme; another one lies in the improved generalization of the homogeneous idea in the global adaptive stabilization of high-order uncertain nonlinear systems. The distinguished feature of the system to be investigated is the serious coexistence between unknown time-varying parameters and unknown time-varying control coefficients. Design procedures of the continuous controller are provided based on the sign function technique and the delicate search of the time-varying function and a Lyapunov function. Finally, the control of uncertain single-link robotic manipulator demonstrates the application of design scheme. (C) 2016 Elsevier Ltd. All rights reserved.
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