Abstract
ABSTRACTThis paper deals with controller parameterisation method of adaptive control for polynomial Hamiltonian systems (PHSs) with disturbances and unknown parameters. We design a simplified controller with a set of tuning parameters which can guarantee that the systems are adaptive stable by using Hamiltonian function method. Then, a method for solving the set of tuning parameters of the controller with symbolic computation is presented. The proposed parameterisation method avoids solving Hamilton–Jacobi–Issacs (HJI) equations and the obtained controller is easier as compared to some existing ones. Simulation example shows that the controller is effective as it can optimise adaptive control by adjusting tuning parameters. All these results are expected to be of use in the study of adaptive control for nonlinear systems with disturbances and unknown parameters.
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