On epsilon–Invariance of Nonlinear Systems with Functional and Signal Uncertainties

Authors:	Efimov Denis, IPME, Russian Federation Bobtsov Alexey, ITMO, Russian Federation
Topic:	1.2 Adaptive and Learning Systems
Session:	Switching and Multiple Model Approaches to Adaptation
Keywords:	adaptive control, disturbance rejection, robustness, nonlinear systems, switching

Abstract

Switching adaptive control scheme is developed, which provides global asymptotic stability property with respect to state space vector of the plant with functional uncertainty. In the presence of disturbance these scheme ensures boundedness of all trajectories of the system. Under some mild conditions the proposed solution guarantees convergence of state vector of the plant to specified neighborhood of the origin for arbitrary initial conditions and bounded disturbances.