Title :
Adaptive Control of a Class of Uncertain Nonlinear Systems with Unknown Control Directions
Author :
Du Jialu ; Yu Shuanghe ; Zhao Yongsheng
Author_Institution :
Dalian Maritime Univ., Dalian
Abstract :
A kind of novel nonlinear adaptive control strategy is proposed for the general parameterized strict feedback uncertain nonlinear systems with unknown control directions. The proposed control scheme is based on the Backstepping algorithm and Nussbaum gain function. The uniformly asymptotical stability is proved by utilizing the augumented Lyapunov function. The simulation results on the course keeping control of "Daqing 232" tank ship validate the theoretical analysis and the algorithmic effectiveness.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; feedback; nonlinear control systems; uncertain systems; Nussbaum gain function; adaptive control; augumented Lyapunov function; backstepping algorithm; parameterized strict feedback uncertain nonlinear systems; uniformly asymptotical stability; unknown control directions; Adaptive control; Analytical models; Asymptotic stability; Backstepping; Control systems; Feedback; Lyapunov method; Marine vehicles; Nonlinear control systems; Nonlinear systems; Backstepping; Nonlinear Adaptive Control; Nussbaum gain; Stability; Unknown control directions;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347542
