Composite adaptive control for Euler-Lagrange systems with additive disturbances


In a typical adaptive update law, the rate of adaptation is generally a function of the state feedback error. Ideally, the adaptive update law would also include some feedback of the parameter estimation error. The desire to include some measurable form of the parameter estimation error in the adaptation law resulted in the development of composite adaptive… (More)
DOI: 10.1016/j.automatica.2009.10.017


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