A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is in...A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.展开更多
基金Supported in part by the Chinese Outstanding Youth Science Foundation(69925308)supported by Program for Changjiang Scholars and Innovative Research Team in University
基金supported by the National Natural Science Foundation of China (No.60774010,60574080)the research startup Foundation of Qufu Normal University
文摘A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.
