Adaptive control of a class of quantised nonlinearly parameterised systems with unknown control directions

Abstract

The problem of adaptive control is studied for a class of nonlinearly parameterised systems with quantised input signal and unknown control directions. The homogeneous domination approach and the Nussbaum-type gain method are applied to design an adaptive state-feedback controller. A hysteretic type of quantiser is incorporated to reduce actuator chattering. The proposed controller can ensure that all signals of the nonlinear system are globally bounded, and that the system state asymptotically converges to zero. Two numerical examples are presented to demonstrate the effectiveness and potential of the proposed techniques.