Journal ArticleDOI
Adaptive Nonlinear Control With Contraction Metrics
Brett T. Lopez,Jean-Jacques E. Slotine +1 more
- Vol. 5, Iss: 1, pp 205-210
TLDR
This letter derives direct adaptive control algorithms for nonlinear systems nominally contracting in closed-loop, but subject to structured parametric uncertainty from methods based on feedback linearization or backstepping.Abstract:
This letter derives direct adaptive control algorithms for nonlinear systems nominally contracting in closed-loop, but subject to structured parametric uncertainty. The approach is more general than methods based on feedback linearization or backstepping as it does not require invertibility or the system be in strict-feedback form. More broadly, it can be combined with learned controllers that must remain effective in the presence of structured parametric uncertainty. Simulation results illustrate the approach on a system with extended matched uncertainty.read more
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References
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Journal ArticleDOI
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Journal ArticleDOI
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Journal ArticleDOI
Adaptive nonlinear control without overparametrization
TL;DR: In this paper, a new design procedure for adaptive nonlinear control is proposed in which the number of parameter estimates is minimal, that is, equal to the unknown parameters, and the adaptive systems designed by this procedure possess stronger stability properties than those using overparametrization.