Universal Adaptive Control of Nonlinear Systems

Universal Adaptive Control of Nonlinear Systems

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 the rate of adaptation online to eliminate the effects of parameter estimation transients on stability....

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Bibliographic Details
Main Authors: Lopez, Brett T., Slotine, Jean-Jacques E.
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers 2024
Online Access:https://hdl.handle.net/1721.1/154993

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