Adaptive Control of Time-Varying Parameter Systems With Asymptotic Tracking

A continuous adaptive controller is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. Through a unique stability analysis strategy, new feedforward term along specialized feedback terms, to yield an asymptotic tracking error convergence result by compensating the nature of Lyapunov-based shown Euler–Lagrange systems, which ensures and boundedness closed-loop signals. Additionally, function approximation converge zero. simulation example two-link manipulator provided demonstrate result.