摘要
In this note, a robust adaptive control scheme is proposed for a class of nonlinear systems that have unknown multi-plicative 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.
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.
基金
Project supported by the National Natural Science Foundation ofChina (No. 60474010), and the Scientific Research Foundation for theReturned Chinese Scholars, State Education Ministry, China
