Adaptive control for unknown HOFA nonlinear systems without overparametrization
Cungen Liu
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorCorresponding Author
Xiaoping Liu
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Correspondence Xiaoping Liu, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China.
Email: [email protected]
Search for more papers by this authorHuanqing Wang
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorYucheng Zhou
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorChuang Gao
School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, People's Republic of China
Search for more papers by this authorCungen Liu
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorCorresponding Author
Xiaoping Liu
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Correspondence Xiaoping Liu, School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China.
Email: [email protected]
Search for more papers by this authorHuanqing Wang
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorYucheng Zhou
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China
Search for more papers by this authorChuang Gao
School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, People's Republic of China
Search for more papers by this authorFunding information: Taishan Scholar Project of Shandong Province of China, Grant/Award Number: tsqn201812093
Summary
The problem of adaptive control is investigated for unknown mixed high-order fully actuated (HOFA) nonlinear systems. To deal with the parametric uncertainties, the tuning function is utilized to design an adaptive update law without parameter overestimation. Based on the full-actuation feature of HOFA nonlinear systems and Lyapunov stability theory, an adaptive controller is constructed and its stability is analyzed. Finally, the effectiveness of the control strategy is verified by simulation results.
CONFLICT OF INTEREST
The authors declare that they have no conflicts of interest.
Open Research
DATA AVAILABILITY STATEMENT
The data used to support the findings of this study are available from the corresponding author upon request.
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