A Novel Adaptive Controller for Nonlinear Stochastic Systems With Uncertain Virtual Control Gains and Input Nonlinearities
针对输入不确定非线性和虚拟控制增益未知的随机系统，提出一种新型自适应非线性控制器，通过构造有界光滑辅助函数处理未知增益，并设计新控制信号应对死区和饱和，在非光滑系统、SISO机器人和MIMO四旋翼上验证了有效性。
In this article, an adaptive nonlinear controller is developed for a class of stochastic systems, whose inputs are uncertainly nonlinear and virtual control gains (simplified as VCGs) include unknown and known items. A novel auxiliary function of boundedness and smoothness is constructed for handling the unknown items of VCGs. Aiming at the challenges of control laws without enough differentiability and uncertainties caused by deadzone and saturation of inputs, the novel control signals are proposed, which are tested on a nonsmooth system, SISO robot and MIMO quadrotor. The superiority and effectiveness of the designed control strategy are proved via the strict stability analysis and simulation comparisons.