Adaptive estimation and control for uncertain nonlinear systems and full actuation control
Document Type
Article
Publication Date
11-1-2023
Abstract
We study adaptive control for a family of nonlinear systems, involving unknown and uncertain parameters. The proposed control law estimates the system parameters adaptively and stabilizes the closed-loop system asymptotically for the initial state over any given bounded set of the state-space. Moreover, reconstruction filters are designed to obtain error residue signals and to enable the use of the least-squares algorithm for estimating the parameters, in order to achieve the convergence based on the persistent excitation condition and asymptotic linearization. The proposed methods are applicable to full actuation and under actuation control systems. Simulation studies are carried out for a pendulum system and for a third-order vehicle model, as well as control of vehicle platoons, validating the theoretical results presented in this paper.
Publication Source (Journal or Book title)
Science China Information Sciences
Recommended Citation
Yan, F., Zhang, M., & Gu, G. (2023). Adaptive estimation and control for uncertain nonlinear systems and full actuation control. Science China Information Sciences, 66 (11) https://doi.org/10.1007/s11432-022-3737-4
