Tham khảo tài liệu 'adaptive control system part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 156 Adaptive nonlinear control passivation and small gain techniques considerations a new class of uncertain nonlinear systems with unmodelled dynamics has been considered in the second part of this chapter. A novel recursive robust adaptive control method by means of backstepping and small gain techniques was proposed to generate a new class of adaptive nonlinear controllers with robustness to nonlinear unmodelled dynamics. It should be mentioned that passivity and small gain ideas are naturally complementary in stability theory 5 . However this idea has not been used in nonlinear control design. We hope that the passivation and small gain frameworks presented in this chapter show a possible avenue to approach this goal. Acknowledgements. This work was supported by the Australian Research Council Large Grant Ref. No. A49530078. We are very grateful to Laurent Praly for helpful discussions that led to the development of the result in subsection . References 1 Byrnes c. I. and Isidori A. 1991 Asymptotic Stabilization of Minimum-Phase Nonlinear Systems IEEE Trans. Automat. Control 36 1122-1137. 2 Byrnes c. I. Isidori A. and Willems . 1991 Passivity Feedback Equivalence and the Global Stabilization of Minimum Phase Nonlinear Systems IEEE Trans. Automat. Control 36 1228-1240. 3 Corless M. J. and Leitmann G. 1981 Continuous State Feedback Guaranteeing Uniform Ultimate Boundedness for Uncertain Dynamic Systems IEEE Trans. Automat. Control 26 1139-1144. 4 Coron J. -M. Praly L. and Teel A. 1995 Feedback Stabilization of Nonlinear Systems Sufficient Conditions and Lyapunov and Input-Output Techniques . In Trends in Control A. Isidori ed. 293-348 Springer. 5 Desoer c. A. and Vidyasagar M. 1975 Feedback Systems Input-Output Properties . New York Academic Press. 6 Fradkov A. L. Hill D. J. Jiang z. p. and Seron M. M. 1995 Feedback Passification of Interconnected Systems Prep. IFAC NOLCOS 95 660-665 Tahoe City California. 7 Hahn w. 1967 Stability of Motion. .
