The Adaptive Control For The Nonlinear Control System

Recently, in the control field, the adaptive control problem of the uncertain nonlinear cascade systems is an important research topic. Although many achievements of the nonlinear systems we have got, which confined to the lower triangular structure systems. But the achievements in the structure of the non lower triangular uncertain nonlinear cascade systems are much less than lower triangular structure, still have very large development space. Especially in the nonlinear adaptive robust cascade system which structure is non-lower triangular, need further discussion and research. In this paper, what we mainly studied is the robust adaptive problem of the non lower triangular nonlinear cascade systems.In the first chapter, we give the summaries for the condition and the significance. We also give some research results both at home and abroad.In the second chapter, we introduce the related basic knowledge. And elaborate the way to study a class of non-triangular structural nonlinear adaptive problem using the Backstepping method and the Lyapunov Function method. Firstly, we translate a non-lower triangular nonlinear system into two systems which structure is lower-triangular through coordinate transformation. And then obtain two control inputs and some adaptive control laws through the Backstepping and Lyapunov functions.In the third chapter, we extend the system of the chapter two to the situation that system’s structure is uncertain. In this chapter, we studied a class structural uncertain non triangular nonlinear robust adaptive problem.In the fourth chapter, we summarized this paper and proposed the next research direction in the later study.