Abstract
SummaryThe problem of adaptive control is investigated for unknown mixed high‐order fully actuated (HOFA) nonlinear systems. To deal with the parametric uncertainties, the tuning function is utilized to design an adaptive update law without parameter overestimation. Based on the full‐actuation feature of HOFA nonlinear systems and Lyapunov stability theory, an adaptive controller is constructed and its stability is analyzed. Finally, the effectiveness of the control strategy is verified by simulation results.
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