Stable adaptive control for a class of nonlinear systems using a modified Lyapunov function

Author

Zhang, T. ; Ge, S.S. ; Hang, C.C.

Author_Institution

Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore

Volume

45

Issue

1

fYear

2000

fDate

1/1/2000 12:00:00 AM

Firstpage

129

Lastpage

132

Abstract

Investigates the adaptive control design for a class of nonlinear systems using Lyapunov´s stability theory. The proposed method is developed based on a novel Lyapunov function, which removes the possible controller singularity problem in some of the existing adaptive control schemes using feedback linearization techniques. The resulting closed-loop system is proven to be globally stable, and the output tracking error converges to an adjustable neighborhood of zero

Keywords

Lyapunov methods; adaptive control; control system synthesis; linearisation techniques; nonlinear control systems; stability; Lyapunov´s stability theory; adaptive control design; controller singularity problem; feedback linearization techniques; global stability; modified Lyapunov function; output tracking error; stable adaptive control; Adaptive control; Control systems; Linear feedback control systems; Linearization techniques; Lyapunov method; Nonlinear systems; Programmable control; Projection algorithms; Sliding mode control; Stability;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.827369

Filename

827369