Global Finite-Time Adaptive Stabilization of Nonlinearly Parametrized Systems With Multiple Unknown Control Directions
针对控制方向完全未知的非线性参数化系统，提出一种基于增加幂积分器技术的自适应切换控制器，通过逻辑切换规则在线调节参数，实现全局有限时间稳定。
In this paper, the problem of the global finite-time adaptive stabilization for nonlinearly parametrized systems with multiple unknown control directions is addressed. Different from the previous results, the control directions of the considered systems are completely unknown. Adopting the adding a power integrator design technique, we develop an adaptive switching controller with a tuning parameter. Due to control directions unknown, a novel logic switching regulation is established based on Lyapunov function method to overcome this main obstacle. According to this switching rule, the design parameter is tuned online in a switching way. With the help of the obtained adaptive switching controller, the global finite-time stability of the closed-loop systems is shown. To verify the effectiveness of the control algorithm, a simulation example is presented.