| Title |
Design of a Continuous Adaptive Robust Control Estimating the Upper Bound of the Uncertainties using Fredholm Integral Formulae |
| Keywords |
Uncertain Dynamic System ; Robust Control ; Parameter Adaptation ; Fredholm Integral |
| Abstract |
We consider a class of uncertain nonlinear systems containing the uncertainties without a priori information except that they are bounded. For such systems, we assume that the upper bound of the uncertainties is represented as a Fredholm integral equation of the first kind and we propose an adaptation law that is capable of estimating the upper bound. Using this adaptive upper bound, a continuous robust control which renders uncertain nonlinear systems uniformly ultimately bounded is designed. |