Volume 33, Issue 6 pp. 3640-3660
RESEARCH ARTICLE

Adaptive control for unknown HOFA nonlinear systems without overparametrization

Cungen Liu

Cungen Liu

School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China

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Xiaoping Liu

Corresponding 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]

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Huanqing Wang

Huanqing Wang

School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China

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Yucheng Zhou

Yucheng Zhou

School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, People's Republic of China

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Chuang Gao

Chuang Gao

School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, People's Republic of China

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First published: 09 January 2023
Citations: 1
Cungen Liu and Xiaoping Liu contributed equally.

Funding 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.

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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