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Robust adaptive control for a class of uncertain strict-feedback nonlinear systems. (English) Zbl 1166.93334
Summary: Robust adaptive control is presented for a class of perturbed strict-feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require a priori knowledge of the signs of the unknown control coefficients. For the first time, the key technical Lemma is proven when the Nussbaum function is chosen by \(N(\zeta ) = \zeta ^{2}\cos(\zeta)\), based on which the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals. Simulation results show the validity of the proposed scheme.

MSC:
93C40 Adaptive control/observation systems
93B35 Sensitivity (robustness)
93C10 Nonlinear systems in control theory
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