Robust H-infinity adaptive controlfor uncertain cascaded nonlinear system
不确定串联非线性系统H∞鲁棒自适应控制(英文)

A robust adaptive controller with L2-gain is derived for a class of cascaded non_minimum phase nonlinear systems with unknown parameters and disturbances. A recursive Lyapunov_based design approach was developed to construct the controller explicitly so as to avoid solving Hamilton_Jacobi_Isaacs inequality. The state feedback controller guaranteed that the closed system was input_to_state stable and the L2-gain from the disturbance input to the controlled output was not larger than a prescribed value for all admissible parameter uncertainties. In the end, a simulation example was given to demonstrate the (controller's) feasibility.