Global adaptive exponential stabilisation for nonlinear systems with multiple unknown control directions

ABSTRACT

In this paper, we address the global generalised exponential stabilisation problem for a class of lower-triangular systems with multiple unknown directions. Instead of the well-known Nussbaum-gain adaptive rule, a Lyapunov-based adaptive logic switching rule is proposed to seek the correct control directions for such systems. The main advantage of the proposed controller is that it can guarantee the global generalised exponential stability of closed-loop systems. Simulation examples are given to verify the effectiveness of the developed control approach.

KEYWORDS:

• Global generalised exponential stability
• adaptive switching control
• multiple unknown control directions
• nonlinear systems

Acknowledgements

This work is supported by National Natural Science Foundation of China (grant numbers: 61203074, 61174213).

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work is supported by National Natural Science Foundation of China [grant number 61203074], [grant number 61174213].