Model-following Adaptive Robust Control for a Class of Uncertain Systems with Series Nonlinearities

The problem of the robust adaptive tracking for a class of uncertain systems with partially known nonlinear uncertainties and series nonlinearities is discussed. The proposed adaptive robust controller guarantees the tracking error of the systems uniformly ultimately bounded, and makes systems with nonlinear inputs the same robust as those with linear input. In contrast to some results in the control literature, the adaptive laws for updating the estimate values of the unknown parameters and the proposed controller are continuous. Moreover, the proposed adaptive control scheme can be easily implemented in practical control due to the continuity of the adaptive laws and the proposed controller. Finally, an illustrative example is given to demonstrate the utilization of the results. Copyright © 2005 IFAC