ILF for Adaptive Control
In nonlinear control design, Lyapunov stability techniques play an important role in constructing controllers and performing the closed-loop stability analysis. Nevertheless, for a given nonlinear system, there is in general no systematic procedure for choosing a suitable Lyapunov function to guarantee the system stability. Different choices of Lyapunov functions may result in different control structures and control performance. Past experience shows that a good design of Lyapunov function should fully utilize the property of the studied systems. Adaptive control of nonlinear systems has been an active research area and many good theoretical results have been obtained in the literature [87,91,104,128,165] and the references therein. In this chapter, a novel kind of Lyapunov functions is developed for achieving globally stable nonlinear adaptive control.
KeywordsLyapunov Function Adaptive Control Tracking Error Adaptive Controller Positive Definite Function
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