Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking
Omkar Sudhir Patil, Runhan Sun, Shubhendu Bhasin, Warren E. Dixon

TL;DR
This paper presents an adaptive control method for nonlinear systems with time-varying uncertainties, ensuring asymptotic tracking and stability through a Lyapunov-based approach and a RISE-like adaptation law.
Contribution
It introduces a novel adaptive control design incorporating a RISE-like term to handle time-varying uncertainties in nonlinear systems.
Findings
Ensures asymptotic tracking in systems with time-varying parameters.
Guarantees boundedness of all closed-loop signals.
Provides a Lyapunov-based stability proof.
Abstract
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the error (RISE)-like term in the adaptation law which compensates for potentially destabilizing terms in the closed-loop error system arising from the time-varying nature of uncertain parameters. A Lyapunov-based stability analysis ensures asymptotic tracking, and boundedness of the closed-loop signals.
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Taxonomy
TopicsStability and Controllability of Differential Equations · Adaptive Control of Nonlinear Systems · Advanced Control Systems Optimization
