This paper studies the adaptive asymptotically stabilizing control problem for a class of uncertain nonlinear systems by the partial-state feedback. The input-to-state stability (ISS) is used to describe the dynamic uncertainties, and a novel Nussbaum function is resorted to counteract the unknown identical control directions. The damping terms with the estimates of unknown disturbance bounds are inserted in control design to handle the nonvanishing external disturbances. It can be seen that all signals in closed-loop are bounded and the system states converge to zero asymptotically in spite of the uncertainties. Finally, a simulation example is introduced to show the effectiveness of the presented control scheme.

本文通过部分状态反馈研究了一类不确定非线性系统的自适应渐近稳定控制问题。输入状态稳定性 (ISS) 用于描述动态不确定性，并采用新的 Nussbaum 函数来抵消未知的相同控制方向。在控制设计中插入带有未知扰动边界估计的阻尼项，以处理非零外部扰动。可以看出，闭环中的所有信号都是有界的，尽管存在不确定性，但系统状态渐近收敛到零。最后，通过一个仿真实例来说明所提出的控制方案的有效性。