Abstract
In this note, a robust adaptive control scheme is proposed for a class of nonlinear systems that have unknown multiplicative terms. Unlike previous results, except for the unknown control directions, we do not require a priori bounds on the unknown parameters. We also allow the unknown parameters to be time-varying provided that they are bounded. Our proposed robust adaptive controller is designed to identify on-line the unknown control directions and is a switching type controller, in which the controller parameters are tuned in a switching manner via a switching logic. Global stability of the closed-loop systems have been proved.
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Project supported by the National Natural Science Foundation of China (No. 60474010), and the Scientific Research Foundation for the Returned Chinese Scholars, State Education Ministry, China
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Ke, Hs., Ye, Xd. Robust adaptive controller design for a class of nonlinear systems with unknown high frequency gains. J. Zhejiang Univ. - Sci. A 7, 315–320 (2006). https://doi.org/10.1631/jzus.2006.A0315
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DOI: https://doi.org/10.1631/jzus.2006.A0315