Observer-based adaptive robust control of a class of nonlinear systems with dynamic uncertainties
A class of nonlinear control systems is considered in the presence of unknown but bounded parametric uncertainties and uncertain nonlinearities. First, under suitable assumptions, a nonlinear observer is constructed to provide estimates of the unmeasurable states of the system. Next, a discontinuous projection-based adaptive robust control scheme is applied to the present case with dynamic uncertainties. The proposed controller has an exponentially converging transient performance and eliminates the effect of uncertainties through certain parameter adaptation laws. A design example and some simulation results are also presented.
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