Global asymptotic stability control for nonlinear systems with unknown functions

被引：0
|
作者：
Jia F.-J. [1 ,2 ]
Zhang T.-L. [2 ]
机构：
[1] School of Electrical Engineering and Automation, Anhui University, Anhui, Hefei
[2] School of Automation, Nanjing University of Science and Technology, Jiangsu, Nanjing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 02期
关键词：
asymptotic stability; backstepping; nonlinear systems; state feedback;
D O I：
10.7641/CTA.2022.11244
中图分类号：
学科分类号：
摘要：
In this paper, the global asymptotic stability of a class of nonlinear systems with unknown functions and unknown control directions is discussed. A lemma is proposed to deal with the unknown functions problem, and a global asymptotic stability control algorithm based on the backstepping and Nussbaum gain technology is obtained. Compared with the algorithms dealing with unknown functions by approximation method, the algorithm proposed in this paper solves the problem of global asymptotic stability of nonlinear systems. Compared with the existing global asymptotic stability control algorithms for nonlinear systems, this paper avoids the assumptions of unknown functions, so the method in this paper reduces the conservatism. It is worth mentioning that the algorithm in this paper also solves the “explosion of terms” problem of backstepping. Therefore, the algorithm in this paper not only obtains the global asymptotic stability control scheme, but also has simple calculation. Finally, the algorithm is applied to the rigid single link manipulator system, and the simulation results verify the effectiveness of the control scheme. © 2023 South China University of Technology. All rights reserved.
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页码：196 / 203
页数：7
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