Adaptive guaranteed cost control of a class of uncertain nonlinear systems

This paper proposes an adaptive guaranteed cost control (GCC) method for a class of nonlinear systems with uncertainties, which guarantees the system cost to be bounded by some specified values while adaptively compensating for the effects of uncertainties and nonlinearities in the system dynamics. By Lyapunov's theory and linear matrix inequality techniques, a parameter adaptation law and a sufficient condition for GCC design are derived for a class of uncertain nonlinear systems. Simulation results on a mechanical system with hard nonlinearity show the effectiveness of the proposed method.