Indirect adaptive nonlinear control

Abstract

The authors consider how to make a nonlinear control law adaptive. Assuming that the uncertainties interfere linearly, they answer this question for a certain class of systems. In particular, they propose an estimation-based adaptive controller with corrective terms for more general families than robot arms. Assuming some structural properties, they obtain global convergence under far less restrictive growth assumptions than previously.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>