Conclusion

Abstract

Motivated by the heightened interest in adaptive learning control systems and a proliferation of results in nonlinear stability theory, the authors studied and presented the safe switching adaptive control of the highly uncertain systems. Those are the systems whose dynamics, parameters, or uncertainty models may be insufficiently known for a variety of reasons, including, for example, difficulty in obtaining accurate model estimates, changes in subsystem dynamics, component failures, external disturbances, time variation of plant parameters (slow but consistent time variation or infrequent large jumps) etc.