Title

Uniform global asymptotic stability of adaptive cascaded nonlinear systems with unknown high-frequency gains

Document Type

Article

Publication Date

2-15-2011

Abstract

We study adaptive tracking problems for nonlinear systems with unknown control gains. We construct controllers that yield uniform global asymptotic stability for the error dynamics, and hence tracking and parameter estimation for the original systems. Our result is based on a new explicit, global, strict Lyapunov function construction. We illustrate our work using a brushless DC motor turning a mechanical load. We quantify the effects of time-varying uncertainties on the motor electric parameters. © 2010 Elsevier Ltd. All rights reserved.

Publication Source (Journal or Book title)

Nonlinear Analysis, Theory, Methods and Applications

First Page

1132

Last Page

1145

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