With Dynamic Nonlinear System Iiss Inverse Decentralized Adaptive Regulation

This dissertation mainly deals with problems of decentralized adaptive regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics. The main results can be listed as follows:In Chapter 1, we firstly introduce the development of adaptive control and robust adaptive control. Then nonlinear control and stability theory are summarized. Moreover we set forth the current developing status about the decentralized adaptive control. Finally the problems to be solved in this paper are pointed out.In Chapter 2, some needed preliminary results are given, including some used notations, definitions, propositions and an important inequality.In Chapter 3, for a class of nonlinear systems with iISS inverse dynamics, nonlinear uncertainties and unknown control direction, decentralized adaptive regulation problem is considered. Firstly, we investigate the relative degree-one case for the main purpose of paving the way for a complete answer to the control task. Then, we explore the high relative degree situation by using integrator backstepping. By combining Nussbaum-type gain approach with backstepping design technique, we propose for the first time a decentralized adaptive control scheme. According to a similar subtle analysis approach [16], it is shown that all the solutions of the closed-loop system obtained are bounded, and asymptotic regulation is achieved. Finally, two numerical examples are given to demonstrate the effectiveness of the design.In Chapter 4, we give conclusions of this paper and an account of the future research work.