Technical Communique: A direct adaptive controller for dynamic systems with a class of nonlinear parameterizations

Authors:
S. S. Ge;C. C. Hang;T. Zhang
Affiliations:
Department of Electrical Engineering, National University of Singapore, Singapore 119260, Singapore;Department of Electrical Engineering, National University of Singapore, Singapore 119260, Singapore;Department of Electrical Engineering, National University of Singapore, Singapore 119260, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

In this note, the adaptive control problem is considered for a class of nonlinearly parametrized systems. By introducing a novel kind of Lyapunov functions, a direct adaptive controller is developed for achieving asymptotic tracking control. The transient performance of the resulting closed-loop system can be guaranteed by suitably choosing the Lyapunov function to construct the controller. The effectiveness of the proposed scheme is illustrated with two examples.