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Adaptive estimation and control for uncertain nonlinear systems and full actuation control

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Abstract

We study adaptive control for a family of nonlinear systems, involving unknown and uncertain parameters. The proposed control law estimates the system parameters adaptively and stabilizes the closed-loop system asymptotically for the initial state over any given bounded set of the state-space. Moreover, reconstruction filters are designed to obtain error residue signals and to enable the use of the least-squares algorithm for estimating the parameters, in order to achieve the convergence based on the persistent excitation condition and asymptotic linearization. The proposed methods are applicable to full actuation and under actuation control systems. Simulation studies are carried out for a pendulum system and for a third-order vehicle model, as well as control of vehicle platoons, validating the theoretical results presented in this paper.

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Acknowledgements This work was supported in part by National Natural Science Foundation of China (Grant No. 61873215) and Natural Science Foundation of Sichuan Province (Grant No. 2022NSFSC0470). The authors would like to thank the anonymous reviewers for their valuable and constructive comments.

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Authors and Affiliations

  1. School of Information Science and Technology, Southwest Jiaotong University, Chengdu, 611756, China

    Fei Yan & Mingyuan Zhang

  2. School of Electrical Engineering and Computer Science, Louisiana State University, Baton Rouge, LA, 70803, USA

    Guoxiang Gu

Authors
  1. Fei Yan
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  2. Mingyuan Zhang
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  3. Guoxiang Gu
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Correspondence to Guoxiang Gu.

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Yan, F., Zhang, M. & Gu, G. Adaptive estimation and control for uncertain nonlinear systems and full actuation control. Sci. China Inf. Sci. 66, 212204 (2023). https://doi.org/10.1007/s11432-022-3737-4

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  • DOI: https://doi.org/10.1007/s11432-022-3737-4

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