Dynamical robust adaptive tracking for uncertain nonlinear systems
The paper proposes two robust adaptive control schemes designed for a large class of single-input single-output nonlinear uncertain systems, which are observable and minimum phase. The dynamics of the open-loop system is defined by the state-space representation \[ \dot x=f(x,u)+G(x,u)\xi+R(x,u)d(t),\;y=h(x,u),\;x\in\mathbb{R}^n, \] where \(f,G,R,h\) are smooth functions, \(\xi\) denotes a constant unknown parameter vector taking any value in a closed ball \(\Omega\in\mathbb{R}^p\), and \(d(t)\) represents an arbitrary bounded disturbance. The adaptive controller guarantees several robustness properties for the closed-loop system, which is able to track given smooth and bounded trajectories. Both schemes exploit a dynamical iterative change of coordinates and allow a relaxation of geometric conditions, in comparison with previous works. The two design procedures are illustrated for the average Buck-Boost converter model; the control objective is that the input inductor current should track a desired reference signal. Simulation results for the cases with and without disturbance are presented.
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