Model Reference Adaptive Control Scheme for Pure-Feedback Nonlinear Systems

摘要

A model reference adaptive control scheme is presented for nonlinear systems in a pure-feedback canonical form with unknown parameters. The presence of parameter uncertainty in the system causes imperfect linearization, i.e., it introduces nonlinear additive terms in the transformed coordinates. Provided that these nonlinear terms are dominated by the norm of the transformed state, global convergence of the output error is established for all initial estimates of the parameter vector lying in an open neighborhood of the true parameters in the parameter space. Keywords: Model reference adaptive control, Nonlinear systems, Reprints. (jhd)