Showing papers by "Rogelio Lozano published in 1991"

Adaptive control of a simple nonlinear system without a-priori information on the plant parameters

Abstract: The authors present an adaptive control scheme for nonlinear systems of the form x=c/sup *T/ f(x)+b/sup */u, where f(x) is Lipschitz, c/sup */ is a constant vector, and b/sup */ is a constant scalar. The control scheme achieves asymptotical model matching without a priori knowledge of the sign of the b/sup */ gain. The adaptive scheme is free from singularities in the sense that the estimate of b/sup */, entering in the denominator of the control law, is bounded away from zero. The singularity has been overcome through a suitable modification of the parameters estimates which is based on standard least squares covariance matrix properties. >