Extremum Seeking-based Indirect Adaptive Control for Nonlinear Systems with State and Time-Dependent Uncertainties

• Published in: arXiv.org
• Main Authors: Benosman, Mouhacine, Xia, Meng
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 17.07.2015
• Subjects: Adaptive algorithms; Adaptive control; Closed loops; Controllers; Nonlinear control; Nonlinear systems; Parameter estimation; Parameter uncertainty; Robot arms; Robust control; State feedback; Time dependence; Tracking errors

We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first design a robust nonlinear state feedback which renders the cl...