CONTROL LYAPUNOV FUNCTIONS FOR ADAPTIVE NONLINEAR STABILIZATION

被引：60
|
作者：
KRSTIC, M
KOKOTOVIC, PV
机构：
[1] Department of Electrical and Computer Engineering, University of California, Santa Barbara
来源：
SYSTEMS & CONTROL LETTERS | 1995年 / 26卷 / 01期
基金：
美国国家科学基金会;
关键词：
NONLINEAR CONTROL; ADAPTIVE STABILIZATION; ADAPTIVE CONTROL LYAPUNOV FUNCTIONS; BACKSTEPPING;
D O I：
10.1016/0167-6911(94)00107-7
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the problem of stabilization of nonlinear systems linear in unknown constant parameters, we introduce the concept of an adaptive control Lyapunov function (aclf) and use Sontag's constructive proof of Artstein's theorem to design an adaptive controller. In this framework the problem of adaptive stabilization of a nonlinear system is reduced to the problem of nonadaptive stabilization of a modified system. To illustrate the construction of aclf's we give an adaptive backstepping lemma which recovers our earlier design.
引用
收藏
页码：17 / 23
页数：7
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