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Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking

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Document pages: 6 pages

Abstract: A continuous adaptive control design is developed for nonlinear dynamicalsystems with linearly parameterizable uncertainty involving time-varyinguncertain parameters. The key feature of this design is a robust integral ofthe sign of the error (RISE)-like term in the adaptation law which compensatesfor potentially destabilizing terms in the closed-loop error system arisingfrom the time-varying nature of uncertain parameters. A Lyapunov-basedstability analysis ensures asymptotic tracking, and boundedness of theclosed-loop signals.

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