✦ LIBER ✦

A direct method for robust adaptive nonlinear control with guaranteed transient performance

✍ Scribed by S.S. Ge; C.C. Hang; T. Zhang

Publisher: Elsevier Science
Year: 1999
Tongue: English
Weight: 272 KB
Volume: 37
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(99)00032-8

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✦ Synopsis

In this paper, the adaptive control problem is studied for a class of nonlinear systems in the presence of bounded disturbances. By utilizing a nice property of the studied systems, a novel Lyapunov-based control structure is developed, which avoids the possible control singularity problem in adaptive nonlinear control. The transient bounds of output tracking error are shown to be explicit functions of initial conditions and design parameters, and the control performance of the closed-loop system is guaranteed by suitably choosing the design parameters. Simulation study is provided to verify the theoretical results.

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