Asymptotic rejection of general periodic disturbances with time-varying gains

摘要

Adaptive control for a class of nonlinear systems with periodic disturbances is considered. The period of the periodic disturbances is known. The gains of the periodic disturbances depend on states of the system and time and do not satisfy global Lipschitz condition. A adaptive control approach without use of saturation control is proposed, which can guarantee that the tracking error converges to zero. An example is presented to illustrate the utility of the approach.