Adaptive Control Design of High-order Nonlinear Systems with Unknown Control Coefficients and Zero Dynamics

Abstract

This paper focuses on the adaptive stabilization problem for a class of high-order nonlinear systems with uncertain control coefficients and unmeasurable zero dynamics.Restriction on zero dynamics is further relaxed,and the dynamic order of a continuous adaptive state-feedback controller reduces to the minimum(only one dimension) through delicately defining an appropriate unknown parameter.The design procedures of the controller are provided by flexibly incorporating the method of adding a power integrator with the related adaptive technique and the idea of changing supply functions.The designed controller guarantees that all the closed-loop system states are globally uniformly bounded,and that the original state converges to zero.