Adaptive Robust Model Tracking Control of Nonlinear Dynamical Systems with Unmatched Disturbances

In this paper, the problem of adaptive robust model tracking for nonlinear dynamical systems with parameter uncertainties and unmatched disturbances is studied. It is assumed that the parameter uncertainties and the bounds of the unmatched disturbances are unknown. For tracking reference model, a kind of adaptive robust controller is proposed. The uniform ultimate boundedness of the error between state $x(t)$ and the state $x_{r}(t)$ of the reference model can be guaranteed by the proposed controller in the presence of parameter uncertainties and unmatched disturbances. Finally, a numerical example is provided to illustrate the effectiveness of the proposed control scheme.