Scholarlink

In nonlinear control design, the primary objective is to ensure the system output accurately tracks the desired trajectory. However, inaccuracies in system modeling can lead to multiple unknown control directions, where the signs of control gains are uncertain. Traditional methods, such as the Nussbaum-type adaptive gain, effectively address a single unknown control direction. For addressing multiple unknown control directions, the Nussbaum-type gains may sum to zero. To overcome this challenge, this chapter proposes a novel Nussbaum-type function that prevents the summation from becoming zero. The effectiveness of the proposed adaptive Nussbaum design is demonstrated through a simulation of a marine surface vehicle, showcasing its practical applicability in engineering.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Adaptive Nussbaum Design for Tracking Control with Asymptotic Stability

  • 章节

  • 发表日期：

    2026年

查看全文
  • Yongliang Yang,
  • Guilong Liu,
  • Qing Li

摘要

In nonlinear control design, the primary objective is to ensure the system output accurately tracks the desired trajectory. However, inaccuracies in system modeling can lead to multiple unknown control directions, where the signs of control gains are uncertain. Traditional methods, such as the Nussbaum-type adaptive gain, effectively address a single unknown control direction. For addressing multiple unknown control directions, the Nussbaum-type gains may sum to zero. To overcome this challenge, this chapter proposes a novel Nussbaum-type function that prevents the summation from becoming zero. The effectiveness of the proposed adaptive Nussbaum design is demonstrated through a simulation of a marine surface vehicle, showcasing its practical applicability in engineering.