Abstract
The adaptive controller is very efficient in dealing with system containing uncertain parameters. One restriction for the adaptive scheme is that the unknown parameters should be constant, which is not always satisfied in practice. If bounds of uncertainties are available, the sliding controller might be designed. But for a nonlinear system with general uncertainties (i.e., time varying with unknown bounds), both traditional sliding control and adaptive control do not work properly. This paper proposes a new adaptive control scheme for non-linear systems containing time-varying uncertainties with unknown bounded in special case in which the uncertainties vary exponentially with time. The control law and parameter update law are obtained from the Lyapunov approach to guarantee the tracking errors converge asymptotically to zero. Computer simulations are performed to show efficacy of the proposed schemes.
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