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		Haixia SU,Xuejun XIE,Haikuan LIU.[en_title][J].Control Theory and Technology,2007,5(1):89~93.[Copy]

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HaixiaSU,XuejunXIE,HaikuanLIU
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Received:November 23, 2005Revised:June 06, 2006

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Robust adaptive output stabilization using dynamic normalizing signal

Haixia SU, Xuejun XIE, Haikuan LIU

(School of Electrical Engineering \& Automation, Xuzhou Normal University, Xuzhou Jiangsu 221116, China; Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China)

Abstract:

For a class of nonlinear systems with dynamic uncertainties, robust adaptive stabilization problem is considered in this paper. Firstly, by introducing an observer, an augmented system is obtained. Based on the system, we construct an exp-ISpS Lyapunov function for the unmodeled dynamics, prove that the unmodeled dynamics is exp-ISpS, and then obtain a dynamic normalizing signal to counteract the dynamic disturbances. By the backstepping technique, an adaptive controller is given, it is proved that all the signals in the adaptive control system are globally uniformly ultimately bounded, and the output can be regulated to the origin with any prescribed accuracy. A simulation example further demonstrates the efficiency of the control scheme.

Key words: Unmodeled dynamics Exp-ISpS Dynamic normalizing signal Backstepping Adaptive control