AN ADAPTIVE ROBUST-CONTROL SCHEME FOR A CLASS OF NONLINEAR UNCERTAIN SYSTEMS

This paper presents a new adaptive robust control scheme for a class o f nonlinear uncertain systems with both unknown parameters and exogeno us disturbances. A new update scheme, referred to as the CL-modificati on scheme, is proposed to cease parameter adaptation in accordance wit h the adaptive robust control law. The novel property possessed by the new control scheme is that it guarantees the uniform boundedness of t he system and at the same time, the tracking error enters an arbitrari ly designated zone in a finite lime. The paper includes simulation stu dies that demonstrate the performance of the proposed control scheme.