%0 Journal Article
%T Adaptive Control Design of High-order Nonlinear Systems with Unknown Control Coefficients and Zero Dynamics<br>有未知控制系数和零动态的高阶非线性系统的自适应控制设计
%A SUN Zong-Yao
%A SUN Wei
%A LIU Zhen-Guo
%A <br>孙宗耀
%A 孙伟
%A 刘振国
%J 自动化学报
%D 2012
%I 
%X This paper focuses on the adaptive stabilization problem for a class of high-order nonlinear systems with uncertain control coefficients and unmeasurable zero dynamics. Restriction on zero dynamics is further relaxed, and the dynamic order of a continuous adaptive state-feedback controller reduces to the minimum (only one dimension) through delicately defining an appropriate unknown parameter. The design procedures of the controller are provided by flexibly incorporating the method of adding a power integrator with the related adaptive technique and the idea of changing supply functions. The designed controller guarantees that all the closed-loop system states are globally uniformly bounded, and that the original state converges to zero.
%K High-order nonlinear system
%K zero dynamics
%K adding a power integrator
%K adaptive stabilization<br>高阶非线性系统
%K 零动态
%K 增加幂次积分
%K 自适应镇定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=B39D47F72CB13A76D0AD02FBE8FEB37F&yid=99E9153A83D4CB11&vid=16D8618C6164A3ED&iid=B31275AF3241DB2D&sid=2E7DE3EE3BC61ED0&eid=31CCC5D591A72A74&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=22