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In this paper, we address the problem of adaptive control design for a class of multi-input multi-output (MIMO) nonlinear systems. A Lypaunov based singularity free control law, which compensates for parametric uncertainty in both the drift vector and the input gain matrix, is proposed under the mild assumption that the signs of the leading minors of the control input gain matrix are known. Lyapunov...
This paper deals with the asymptotical stability problem for a class of feedforward nonlinear systems with delays in the state and input. The uncertainties in the systems are assumed to be dominated by upper polynomial functions multiplying by an incremental rate depending on the input or delayed input. Based on the state transformation of nonlinear systems and the Lyapunov method, both linear state...
Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically...
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