scientific article; zbMATH DE number 1193558
Consider the following nonlinear system with bounded disturbances: \[ \begin{aligned} \dot x_i & =x_{i+1} +\varphi_{0,i}(y)+ \sum^p_{j=1} \theta_j \varphi_{j,i} +d_i(t), \quad 1\leq i\leq\rho-1,\\ \dot x_i & =x_{i+1} +\varphi_{0,i}(y)+ \sum^p_{j=1} \theta_j \varphi_{j,i} +b_{n-i} \sigma(y)u +d_i(t), \quad\rho \leq i\leq n-1,\\ \dot x_n & =\varphi_{0,n} (y)+\sum^p_{j=1} \theta_j \varphi_{j,n} (y)+b_0 \sigma (y)u+ d_n(t),\\ y & =x_1, \end{aligned} \] where \(x\in R^n\), \(u\in R\), \(y\in R\); \(\varphi_{j,i},\) \(0\leq j\leq p\), \(1\leq i\leq n\), and \(\sigma(y)\) are smooth functions, \(\theta= [\theta_1, \dots, \theta_p]^T \in R^p\), \(b=[b_{n-\rho}, \dots, b_1,b_0]^T \in R^{n-\rho+1}\), are unknown parameters, \(d_i(t)\), \(1\leq i\leq n\), are bounded disturbances. This paper proposes a new adaptive output-feedback controller for this class of uncertain nonlinear systems. The controller can guarantee the global boundedness of all closed-loop signals. Some simulations are given to show the effectiveness of the designed controller.
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