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Robust adaptive controller design for a class of nonlinear systems with unknown high frequency gains |
Ke Hai-sen, Ye Xu-dong |
Department of Electrical Engineering, Zhejiang University, Hangzhou 310027, China |
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Abstract In this note, a robust adaptive control scheme is proposed for a class of nonlinear systems that have unknown multiplicative terms. Unlike previous results, except for the unknown control directions, we do not require a priori bounds on the unknown parameters. We also allow the unknown parameters to be time-varying provided that they are bounded. Our proposed robust adaptive controller is designed to identify on-line the unknown control directions and is a switching type controller, in which the controller parameters are tuned in a switching manner via a switching logic. Global stability of the closed-loop systems have been proved.
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Received: 20 May 2005
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