Adaptive control for a class of nonlinear systems with a time-varying structure

DOI10.1109/9.898709MaRDI QIDQ4540202zbMATH OpenOpenAlexFDO

Authors Raúl Ordóñez, Kevin M. Passino

Publication date 21 July 2002

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0007168

zbMATH Keywords

backsteppingdirect adaptive controlLyapunov methodstrict-feedback formtime-varying structureuncertain nonlinear systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Adaptive or robust stabilization (93D21)

Abstract: In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces, which are interpolated by functions that depend on a possibly exogenous scheduling variable. We assume that each piece is in strict feedback form, and show that the method yields stability of all signals in the closed-loop, as well as convergence of the state vector to a residual set around the equilibrium, whose size can be set by the choice of several design parameters. The class of systems considered here is a generalization of the class of strict feedback systems traditionally considered in the backstepping literature. We also provide design guidelines based on L-infinity bounds on the transient.

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