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Performance-guaranteed Switching Adaptive Control for Nonlinear Systems with Multiple Unknown Control Directions
2020
IEEE Access
In this paper, an adaptive control strategy with novel performance-guaranteed switching mechanism is proposed for a class of nonlinear parametric strict-feedback systems with unknown parameters and multiple unknown control directions. Firstly, adaptive controller is designed by combining tuning function design and barrier Lyapunov function (BLF) techniques, to handle parameter uncertainties and avoid over-parametrization phenomenon. The unknown control directions are estimated online with the
doi:10.1109/access.2020.2974754
fatcat:fre6njbyqrgwzgsexpp6g542gq