Adaptive robust control for a class of nonlinearly parameterized systems
一类非线性参数化系统的自适应鲁棒控制

An adaptive robust controller based on immersion and invariance (I&I) manifold method is proposed for a class of nonlinearly parameterized uncertain systems. The introduction of the tuning function of I&I to the estimator of the unknown parameters in the uncertain system increases the degrees of freedom in system controller design and ensures the asymptotic convergence of the estimation error. The designed adaptive robust controller not only handles the nonlinearly parameterized uncertainties and external disturbance, but also ensures the desired transient and steady-state performances. A simulation example is presented to illustrate the effectiveness of the proposed method.