| Summary: | Unknown actuator aging is inevitable in practice. However, reviewing the development of control theory, available results of handling actuator aging are still very limited. In this paper, we address such a problem by considering controlling a class of unknown nonlinear systems. In fact, unknown aging can be denoted as a nonlinear function of variable t with nonlinearly parameterized parameters which cannot be estimated by adaptive approach directly. To solve it, a new adaptive controller and update laws are proposed by linearizing aging function. Unlike the traditional approaches, a new Lyapunov function, including an integral term about estimation error of such parameter, is designed to analyze the stability of the closed-loop system. It is shown that the designed controller can ensure the stability and tracking performance of the closed-loop system.
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