Stabilization Of High-Order Nonlinear Systems

In this paper, we study, under the frame of continuous, the adaptive regulation, the almost disturbance decoupling, the adaptive almost disturbance decoupling regulation for hihg-order nonlinear noaffine system and the adaptive regulation for high-order nonholonomic system. Removing the restrict of function growth conditions, For adaptive regulation, we construct a discontinuous adaptive controller which gruantees the update of unknown constant parameters stay in .the prescribed extent, we also study the almost disturbance decouplimg in terms of the L2 - L2 gain(instead of the L2p - L2 gain). The paper is organized in four chapters.In Chapter 1, the adaptive regulation is discussed for the system:combing adding a power integrator technique and discontinuous projection and constructing a discontinuous adaptive controller that solve the adaptive problem of (1).In Chapter 2, we consider the problem of almost disturbance decoupling for ths system:we in terms of the L2 - L2 gain (instead of L2p - L2 gain) construct a controller which solve the almost disturbance decoupling problem.In Chapter 3, we investigated the adaptive almost disturbance decoupling problemfor the system:constructing, in terms of L2-L2 gain, a discontinuous adaptive dynamic controller which guarantees the estimate value of unkown parameter in the prescribed extent.In Chapter 4, we consider the adaptive regulation for hihg-order nonholonomic system:Combing the cr-process technique and discontinuous project mapping, we construct a discontinuous adaptive dynamic controller that solve the adaptive regulation problem of (4).