Adaptive Control Design of High-order Nonlinear Systems with Unknown Control Coefficients and Zero Dynamics
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

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.