This technical note presents an L1 adaptive controller for a class of nonlinear uncertain systems, nonaffine in control. As compared to previous L1 architectures for nonlinear nonaffine-in-control systems, the solution discussed in this technical note admits a broader class of nonlinear systems by relaxing some of the (restrictive) assumptions previously made. We also consider a more general filtering structure and prove the results using partial knowledge of the control input actuator model. With the presented control architecture we are able to improve the performance and robustness of the closed-loop adaptive system, compared to prior results of L1 adaptive control for nonaffine-in-control systems.
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering