Trajectory-approximation-based adaptive control for nonlinear systems under matching conditions
The paper deals with the trajectory-approximation-based adaptive control for uncertain twice continuously differentiable nonlinear systems affine in the control input. It is shown that under some matching conditions (exact matching, or matching via Lyapunov functions), such systems can be made semiglobally asymptotically stable by state feedback. The effects of time variations, disturbances or modeling errors are briefly addressed as possible extensions to time varying vector fields. The proposed adaptive algorithms ensure the stability of the origin to any desired accuracy and are easy to handle from the computational point of view. A case study illustrates by simulation the applicability of the control techniques developed in this paper.
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