Brief Paper: Robustness of Adaptive Nonlinear Control to Bounded Uncertainties

Authors:
R. A. FREEMAN;M. KRSTI;P. V. KOKOTOVI
Affiliations:
Department of Electrical and Computer Engineering, Northwestern University, Evanston, IL 60208, USA;Department of Applied Mechanics and Engineering Sciences, University of California, San Diego, La Jolla, CA 92093, USA;Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106, USA
Venue:
Automatica (Journal of IFAC)
Year:
1998

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Abstract

Two robust adaptive control methods are outlined for a class of nonlinear systems. The first method is based on the tuning function design of Krstic et al. (1992), and the second method is based on the modular design of Krstic and Kokotovic (1995). Both methods guarantee robustness with respect to bounded uncertainties and exogenous disturbances, and L"~/L"2 estimates are given on the effects of these uncertainties/disturbances on the tracking error.