Continuous Adaptive Robust Output Feedback Stabilization for a Class of Uncertain Nonlinear Systems
一类非线性系统的自适应鲁棒输出反馈镇定

The problem of robust output feedback stabilization of nonlinear systems withpartially known uncertainties is considered.A class of continuous adaptive robust outputfeedback controllers is proposed,which can guarantee uniform ultimate boundedness of theresulting closed-loop systems in the presence of the uncertainties.In contrast with someresults presented in the control literature,the adaptive law for updating the estimate valuesof the unknown parameters is continuous,and the existence of the solutions to the resultingclosed-loop systems in the usual sense can be guaranteed.Moreover,due to the continuityof the output feedback controller and adaptive law,the proposed adaptive robust outputfeedback controller is easily implemented in practical robust control problems,and no cbat-tering will appear in implementation for control.Finally,an illustrative example is given todemonstrate the utilization of the results.