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中文摘要：
针对一类含有未建模动态和未知控制增益符号的非线性系统，提出了一种输出反馈自适应跟踪控制方案。首先利用Kreisselmeier观测器实现了不可测状态的估计，在此基础上以回归设计方式设计了输出反馈动态面控制系统，通过引入Nussbaum函数解决了控制方向未知问题。该方案解克服了传统反推控制方法中的微分爆炸现象，并且所有未知参数的更新律仅在控制设计的第一步出现，因而降低了控制器设计和实现的复杂性。理论证明，控制方案不仅可以保证闭环系统所有信号半全局一致最终有界，而且通过调整控制器设计参数，跟踪误差可以调节到零的小邻域内。仿真结果进一步验证了控制方案的有效性。
英文摘要：
An output feedback adaptive tracking control scheme is proposed for a class of uncertain nonlinear systems with unmodelleddynamics and unknown control gain sign. The unmeasurable system states are firstly estimated by using Kreisselmeier observer, then output feedback dynamic surface control system is designed in recurrent fashion, unknown control direction is counteracted by utilizing Nussbaum function. Explosion of complexity inherent in traditional backstepping control is eliminated, and the update law of the unknown parameters appears in the first step of control design procedure, therefore, simplification of controller design and realization is achieved. It is proved that the proposed scheme guarantees not only semi-global uniform ultimate boundedness of all signals in the closedloop system, but also the tracking error to a small neighborhood of the origin by choosing design parameter appropriately. Simulation results show the effectiveness of the proposed scheme.
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