V. Stepanyan and A. Kurdila (USA)
Nonlinear systems, adaptive control, disturbance rejection.
This paper presents a robust adaptive control design method for a class of multi-input multi-output nonlinear systems in the presence of parametric and non-parametric uncertainties and bounded disturbances. Using the approx imation properties of the unknown continuous nonlinear ities and the adaptive bounding technique, the developed controller achieves asymptotic convergence of the tracking error to zero, while ensuring boundedness of parameter es timation errors. The algorithm assumes no knowledge of the bounds on the uncertainties in designing the controller. It is based on an integral technique involving the filtered tracking error and produces a continuous control. Theo retical developments are illustrated via simulation results.
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