Decentralized Adaptive Regulation for Nonlinear Systems with iISS Inverse Dynamics
具有iISS逆动态非线性系统的分散自适应调节

This paper considers the decentralized adaptive regulation via output-feedback for nonlinear systems with integral input- to-state stable(iISS)inverse dynamics,nonlinear uncertainties,and unknown control direction.It is shown that all the signals in the closed-loop system obtained are bounded,and the asymptotic regulation is achieved.A numerical example shows the effectiveness of the design.