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		Qiangde WANG,Chunling WEI,Yuqiang WU.[en_title][J].Control Theory and Technology,2009,7(1):51~.[Copy]

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QiangdeWANG,ChunlingWEI,YuqiangWU
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Received:August 20, 2006Revised:December 29, 2007

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Asymptotic regulation of cascade systems with unknown control directions and nonlinear parameterization

Qiangde WANG, Chunling WEI, Yuqiang WU

(College of Electricity Information and Automation, Qufu Normal University, Rizhao Shandong 276826, China)

Abstract:

A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.

Key words: Nonlinear systems Robust control Partial-state feedback Smooth regulator