Adaptive Robust Control of Nonlinear Systems: Effective Use of Information

This paper considers the adaptive robust control of nonlinear systems in the presence of parametric uncertainties and uncertain nonlinearities. The assumption on the allowable uncertain nonlinearities is relaxed to the extent that uncertain nonlinearities are required to be bounded by some known functions multiplied by unknown but bounded time-varying disturbances only. The approach uses robust feedback to attenuate the effect of uncertainties to achieve a prescribed transient performance and final tracking accuracy. The approach also uses parameter adaptation to reduce model uncertainties to achieve asymptotic tracking in the presence of parametric uncertainties without using switching or infinitegain feedback. Different design methods are examined and compared. Adaptive Control, Nonlinear Systems, Robust Control,