Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances

摘要

We consider a class of single-input, single-output non-linear systems which are transformable into the parametric-strict-feedback canonical form with unknown constant parameters. A state-feedback adaptive controller is proposed which achieves glo- bal asymptotic tracking of the reference signal with simultaneous complete compensation of bonded dis- turbances generated by a linear exosystem of the known order but with unknown parameters.