Technical communique: Robust adaptive control for nonlinear uncertain systems

Authors:
Wassim M. Haddad;Tomohisa Hayakawa;Vijaysekhar Chellaboina
Affiliations:
School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150, USA;School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150, USA;Mechanical and Aerospace Engineering, University of Missouri, Columbia, MO 65211, USA
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

A direct robust adaptive control framework for nonlinear uncertain systems with constant linearly parameterized uncertainty and nonlinear state-dependent uncertainty is developed. The proposed framework is Lyapunov-based and guarantees partial asymptotic robust stability of the closed-loop system; that is, asymptotic robust stability with respect to part of the closed-loop system states associated with the plant. Finally, a numerical example is provided to demonstrate the efficacy of the proposed approach.