标题：Adaptive control design for nonlinear systems with multiple uncertainties
作者：Huang, Yaxin ;Liu, Yungang
作者机构：[Huang, Yaxin ;Liu, Yungang ] School of Control Science and Engineering, Shandong University, Jinan; 250061, China
会议名称：36th Chinese Control Conference, CCC 2017
会议日期：26 July 2017 through 28 July 2017
来源：Chinese Control Conference, CCC
关键词：Adaptive technique; State feedback; Uncertain nonlinear systems; Unknown control directions; Unknown input bias
摘要：This paper considers the global state-feedback stabilization for a class of nonlinear systems with multiple uncertainties. Different from the existing related literature, the systems under investigation are subjected to unknown input bias, and allow unknown control directions and parametric uncertainties. In this paper, an adaptive state-feedback scheme is proposed, not only to deal with the multiple uncertainties, but also to achieve the global stabilization of the systems. Detailedly, a state-feedback controller is designed by the backstepping approach, where the Nussbaum-type gain approach and estimation-based adaptive technique are incorporated to handle the unknown control directions and parametric uncertainties, respectively. It is shown that all the signals of the resulting closed-loop system are bounded, and the original system states converge to zero. A simulation example on the model of ship steering is given to demonstrate the effectiveness of the theoretical results. © 2017 Technical Committee on Control Theory, CAA.