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Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance

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3 Author(s)
Cai, Z. ; Dept. of Electr. & Comput. Eng., Univ. of Iowa, Iowa City, IA, USA ; de Queiroz, M.S. ; Dawson, D.M.

This note deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, C0 robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C2 with bounded time derivatives, we present a C0 robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero.

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Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 3 )