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Continuous adaptive robust controllers guaranteeing uniform ultimate boundedness for uncertain nonlinear systems. (English) Zbl 0945.93019
The author considers the problem of designing an adaptive state feedback controller for achieving uniform ultimate boundedness in a nonlinear control system with uncertainties.
Using a model of a nonlinear control systems with uncertainties of B. Brogliato and A. Trofino Neto [Automatica 31, No. 1, 145–150 (1995; Zbl 0825.93650)] the author proposes an adaptive (continuous) state feedback controller for which under certain assumptions the desired performance is shown.
In the special case where the nominal (i.e., unperturbed) system is linear, a controller is designed which consists of a linear part stabilizing the nominal system and a bounded adaptive nonlinear part taking care of the perturbations.

MSC:
93C40 Adaptive control/observation systems
93C15 Control/observation systems governed by ordinary differential equations
93C41 Control/observation systems with incomplete information
93B51 Design techniques (robust design, computer-aided design, etc.)
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