Adaptive Control of Systems with Uncertain Nonlinearities

摘要

Our broad research program in robust and adaptive control has culminated in thedevelopment of three new design methodologies presented in two books totaling 850 pages, four book chapters, 26 major journal publications, and more numerous conference papers. Our new inverse optimality approach to robust nonlinear control avoids the need to solve the HJI equation, but still achieves the desirable properties of optimal systems. A systematically constructed robust Lyapunov function is at the same time the upper value function of a meaningful differential game. For systems with unknown nonsmooth nonlinearities in actuators