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http://dx.doi.org/10.5302/J.ICROS.2014.14.9013

Nonlinear Adaptive Control based on Lyapunov Analysis: Overview and Survey  

Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
Lee, Jae Young (Department of Electrical and Electronic Engineering, Yonsei University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.3, 2014 , pp. 261-269 More about this Journal
Abstract
This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.
Keywords
adaptive control; Lyapunov analysis; nonlinear control;
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