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Title: Robust adaptive control for a class of uncertain strict-feedback nonlinear systems
Authors: Hong, F.
Ge, S.S. 
Ren, B. 
Lee, T.H. 
Keywords: Nonlinear uncertain systems
Nussbaum functions
Robust adaptive control
Issue Date: 10-May-2009
Source: Hong, F., Ge, S.S., Ren, B., Lee, T.H. (2009-05-10). Robust adaptive control for a class of uncertain strict-feedback nonlinear systems. International Journal of Robust and Nonlinear Control 19 (7) : 746-767. ScholarBank@NUS Repository.
Abstract: In this paper, robust adaptive control is presented for a class of perturbed strict-feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require the a priori knowledge of the signs of the unknown control coefficients. For the first time, the key technical Lemma is proven when the Nussbaum function is chosen by N(ζ = ζ2 cos(ζ), based on which the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals. Simulation results show the validity of the proposed scheme. Copyright © 2008 John Wiley and Sons, Ltd.
Source Title: International Journal of Robust and Nonlinear Control
ISSN: 10498923
DOI: 10.1002/rnc.1347
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