Global adaptive regulation for planar nonlinear systems with more uncertainties
In this paper,the problem of global adaptive regulation with unmeasured state dependent growth is inves-tigated by smooth output-feedback for a class of uncertain planar nonlinear systems.The remarkableness of this paper mainly lies in the unknown growth rate consisting of polynomial-of-output,and the unknown control coefficient with only known lower bound.Inspired by closely related works,we propose a non-identifier based output feedback control scheme by using the idea of universal control and backstepping technique.In order to handle the uncertainties of the system,this paper introduces a distinct observer with two high-gains,and the two dynamic high-gains are updated in the new forms.Meanwhile,a proper estimation law is introduced to overcome the lack of the unknown upper bound of control coefficient.The global regulation of the nonlinear system state and the global boundedness of the closed-loop system can be simulta-neously achieved by the designed smooth controller.The efficiency of the proposed method is demonstrated by a practical example.
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维普
