An adaptive robust control scheme for a class of nonlinear uncertain systems (Q4352604)

Given a class of nonlinear uncertain systems, with both unknown parameters and exogenous disturbances, the authors propose a robust adaptive control law, that can guarantee the uniform boundedness of the system and can assure that the tracking error enter the arbitrarily designed zone in a finite time. The parameters are assumed to be unknown but bounded in a given set. The unknown exogenous disturbance vector may be a nonlinear function of the state, of the parameter and of time, as well as a set of random variables. The assumption required on the disturbance is that it is norm bounded by some known function. In addition, it is assumed that the input distribution matrix is positive definite for any parameter. The control scheme of this paper is an improvement of known schemes [see \textit{P. A. Ioannou} and \textit{P. V. Kokotovic}, Adaptive systems with reduced models (1983; Zbl 0503.93001)].