An adaptive robust control scheme for a class of nonlinear uncertain systems

This paper presents a new adaptive robust control scheme for a class of nonlinear uncertain systems with both unknown parameters and exogenous disturbances. A new update scheme, referred to as the CL-modification scheme, is proposed to cease parameter adaptation in accordance with the adaptive robust control law. The novel property possessed by the new control scheme is that it guarantees the uniform boundedness of the system and at the same time, the tracking error enters an arbitrarily designated zone in a finite lime. The paper includes simulation studies that demonstrate the performance of the proposed control scheme.