Immersion and invariance adaptive control of a class of nonlinear systems with unknown control direction

Omid Monfared, Alireza Khayatian, Mojtaba Mahzoon and Paknosh Karimaghaee

International Journal of Systems Science, 2013, vol. 44, issue 12, 2287-2294

Abstract: The goal of this article is to extend the adaptive control problem of parametric strict feedback form nonlinear systems, using immersion and invariance to the case of unknown, possibly, time-varying control direction. The idea is to immerse a target system in ℝn−1, which is stabilised through the design of virtual controllers, into an extended system in ℝn+p. The designed controller takes advantage of the well-known Nussbaum functions to deal with the unknown sign of input multiplier and is designed through the manifold dynamics belonging to ℝp+1. The effectiveness of the proposed method is shown through a simulation example and is also compared to the classical adaptive backstepping approach with an unknown control direction.

Date: 2013
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DOI: 10.1080/00207721.2012.702238

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