Global adaptive regulation control for a class of nonlinear systems with unknown control coefficients

Abstract

SummaryThis paper is concerned with the global asymptotic regulation control problem for a class of nonlinear uncertain systems with unknown control coefficients. The allowed class of uncertainties include unmeasured input‐to‐state stable (ISS) and/or weaker integral ISS (iISS) inverse dynamics, parametric uncertainties, and uncertain nonlinearities. By using the Nussbaum‐type gain technique and changing the ISS/integral ISS inverse dynamics supply rates, we design a dynamic output feedback controller which could guarantee that the system states are asymptotically regulated to the origin from any initial conditions, and the other signals are bounded in closed‐loop systems. The numerical example of a simple pendulum with all unknown parameters and without velocity measurement illustrates our theoretical results. The simulation results demonstrate its efficacy. Copyright © 2015 John Wiley & Sons, Ltd.