Design of a Data-Driven Adaptive Controller Based on FF-ITDL for High-Order Fully Actuated Systems

This paper presents a novel data-driven controller for unknown nonlinear high-order fully actuated systems (HOFASs). The proposed approach leverages a full-form incremental triangular dynamic linearization (FF-ITDL) model with time-varying parameters, which effectively addresses system uncertainties and nonlinearities. The convergence and closed-loop stability of the overall control scheme are rigorously established using the contraction mapping principle. The numerical simulation results demonstrate the superior performance and robustness of the proposed controller, highlighting its potential for practical applications in advanced engineering systems.