Direct Adaptive Control for Nonlinear Uncertain Systems with Bounded Energy L_2 Disturbances
نویسندگان
چکیده
A direct adaptive nonlinear control framework for multivariable nonlinear uncertain systems with exogenous L2 disturbances is developed. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the plant, as well as a nonexpansivity constraint on the closed-loop input-output map. Finally, an illustrative numerical example is provided to demonstrate the e cacy of the proposed approach.
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