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A stable robust adaptive controller for a class of nonlinear systems

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2 Author(s)
F. Abdollahi ; Department of Electrical and Computer Engineering, Concordia University, Montreal, Quebec, CANADA, H3G 1M8 ; K. Khorasani

In this paper, a robust adaptive control is proposed for a class of nonlinear systems subject to unmodeled dynamics and bounded disturbances. The nonlinear systems are represented by their input-output maps. The e1-modification scheme is proposed to achieve robustness and enhance the convergence properties of the tracking error in the absence of disturbances. The stability of the closed-loop system is shown by Lyapunov's direct method. Simulation results demonstrate the improved performance of the proposed controller as compared with the previously reported adaptive controllers in the literature.

Published in:

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Date of Conference:

4-6 Oct. 2006