Decreasing the value of specified cost function by adaptive controller based on modified ACLF for a class of nonlinear systems (Q2338763)

Summary: A new nonlinear adaptive control law for a class of uncertain nonlinear systems is proposed. The proposed control law is designed by a modified Adaptive Control Lyapunov Function (ACLF) which satisfies a Hamilton-Jacobi-Bellman (HJB) equation. The modified ACLF is derived from transformation of an ACLF. The proposed control law is different from the inverse optimal one in decreasing the value of a cost function specified by a designer. In this paper, we show a transformation coefficient for an ACLF and a design method of a nonlinear adaptive controller. Finally, it is shown by a numerical simulation that the proposed control law decreases the value of a given cost function and achieves the desirable trajectory.