Adaptive control analysis of a class of nonlinear systems based on Barbalat's lemma
DU Zhengchang
ZHAO Junsheng
Abstract：This paper investigates the adaptive intelligent tracking control problem for a class of nonlinear systems,aiming to address challenges such as unknown parameters and the compatibility between control laws and the conditions of Barbalat's lemma.Within the framework of Barbalat's lemma and the back-stepping control technique,a novel intelligent control algorithm is proposed.By introducing suitable tun-ing functions and employing online estimation strategies,the method effectively avoids the over-parame-terization issue commonly encountered in conventional approaches.The resulting intelligent controller not only exhibits a simple structure but also demonstrates the capability to rapidly respond to reference sig-nals.This improvement overcomes limitations of traditional Lyapunov-based controller design methods,such as structural complexity,high computational burden,and insufficient robustness.Simulation results are provided to verify the effectiveness of the proposed control algorithm in nonlinear systems.
Keywords：Barbalat's lemmanonlinear systemadaptive controlbackstepping control method
Publication Date：2026-06-25
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：10( 336-345 )