1 adaptive controller for systems with unknown time-varying parameters and disturbances in the presence of non-zero trajectory initialization error

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This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbances. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for both the system's input and output signals, simultaneously. The performance bounds can be systematically improved by increasing the adaptation gain. Robustness of the [image omitted] adaptive controller to non-zero trajectory initialization error is addressed. Simulations of a robotic arm with time-varying friction verify the theoretical findings.

Original languageEnglish (US)
Pages (from-to)1147-1161
Number of pages15
JournalInternational Journal of Control
Issue number7
StatePublished - Jul 1 2008
Externally publishedYes


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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