A decoupled adaptive control algorithm for global state feedback stabilization of a class of nonlinear systems.

A decoupled adaptive control algorithm, namely the combined dynamic gain and adaptive homogeneous domination approach, is introduced to solve the global state feedback stabilization problem for a class of uncertain nonlinear systems. Compared with the conventional adaptive backstepping/tuning functions approach, the algorithm differs in the way of constructing the estimator and handling the nonlinear drifts, and allows the adaptive control law that is decoupled via a dynamic gain to be designed only by choosing some appropriate constants. The proposed adaptive controller guarantees that all the states of the closed-loop system are globally bounded and the system solutions converge to zero asymptotically. Both physical and academic examples are provided to demonstrate the validness of the theory. Copyright © 2014 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]