Universal Adaptive Control of Nonlinear Systems
نویسندگان
چکیده
This letter develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts rate of adaptation online eliminate effects parameter estimation transients on stability. method can be immediately combined previously designed or learned feedback policy if corresponding model-parameterized Lyapunov function contraction metric is known. Simulation results various uncertainties illustrate approach.
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2022
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2021.3133359