Robust Adaptive Control Of Nonlinearly Parametric Systems

Essentially, almost all practical systems such as biochemical processes, power systems, manufacture systems and robots are nonlinear and uncertain. The uncertainties include parameter uncertainties, unmodeled dynamics and unknown disturbances. With the development of modern control theory and increasing requirements on industry controls, the research on nonlinear systems with uncertainties has a great significance both in theory and in applications. Robust adaptive control of nonlinear systems with uncertainties is an active research area with many academic achievements reported in the literatures. Some researchers have proposed robust adaptive controllers for nonlinear systems which deal with only parameter uncertainties. Some researchers have dealt with unmodeled dynamics and unknown disturbances, but the parameters of the systems must satisfy the linear dependence condition. Some researchers have studied nonlinearly parametric systems with unmodeled dynamics and unknown disturbances, but the unknown parameters of the systems must be estimated, and a dynamical signal need to be generated to restrain the unmodeled dynamics, which makes the control system more complicated.To overcome these disadvantages, this paper proposes a design approach to robust adaptive controllers for a class of important nonlinearly parametric systems with unmodeled dynamics and unknown bounded...