A ROBUST ADAPTIVE NONLINEAR CONTROL DESIGN

An adaptive control design procedure for a class of nonlinear systems with both parametric uncertainty and unknown nonlinearities is present ed. The unknown nonlinearities lie within some 'bounding functions', w hich are assumed to be partially known. The key assumption is that the uncertain terms satisfy a 'triangularity condition'. As illustrated b y examples, the proposed design procedure expands the class of nonline ar systems for which global adaptive stabilization methods can be appl ied. The overall adaptive scheme is shown to guarantee global uniform ultimate boundedness.