Uniform Global Asymptotic Stability of a Class of Adaptively Controlled Nonlinear Systems

@article{Mazenc2009UniformGA,
  title={Uniform Global Asymptotic Stability of a Class of Adaptively Controlled Nonlinear Systems},
  author={Fr{\'e}d{\'e}ric Mazenc and Marcio S. de Queiroz and Michael Malisoff},
  journal={IEEE Transactions on Automatic Control},
  year={2009},
  volume={54},
  pages={1152-1158}
}
We give a new explicit, global, strict Lyapunov function construction for the error dynamics for adaptive tracking control problems, under an appropriate persistency of excitation condition. We then allow time-varying uncertainty in the unknown parameters. In this case, we construct input-to-state stable Lyapunov functions under suitable bounds on the uncertainty, provided the regressor also satisfies an affine growth condition. This lets us quantify the effects of uncertainties on both the… CONTINUE READING

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