聊城大学学报（自然科学版）2026，Vol.39Issue(3)：336-345,10.DOI:10.19728/j.issn1672-6634.2025070011
一类基于Barbalat引理的非线性系统自适应控制分析
Adaptive control analysis of a class of nonlinear systems based on Barbalat's lemma
摘要
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.关键词
Barbalat引理/非线性系统/自适应控制/反步法Key words
Barbalat's lemma/nonlinear system/adaptive control/backstepping control method分类
数理科学引用本文复制引用
杜正昌,赵军圣..一类基于Barbalat引理的非线性系统自适应控制分析[J].聊城大学学报（自然科学版）,2026,39(3):336-345,10.基金项目
国家自然科学基金项目(62373302) （62373302）
山东省自然科学基金项目(ZR2025MS1073)资助 （ZR2025MS1073）
