Adaptive tracking control for non-affine nonlinear systems with non-affine function possibly being discontinuous

ABSTRACT

A novel adaptive control scheme is presented for a class of non-affine nonlinear systems with non-affine nonlinear function possibly being discontinuous. A discontinuous condition for non-affine nonlinear systems is present to guarantee the controllability of system. The non-affine nonlinear function is modelled appropriately by using piecewise functions. Based on Lyapunov analysis method, the basic idea of invariant set theory is constructively introduced to prove the boundedness of all the signals in the closed-loop system. Finally, simulation example is provided to demonstrate the effectiveness of the proposed approach.

KEYWORDS:

• Adaptive control
• non-affine nonlinear systems
• discontinuous non-affine function
• invariant set theory
• robust control

Acknowledgments

The authors would like to thank the editors and the anonymous reviewers for their helpful comments and suggestions.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the China Postdoctoral Science Foundation [grant number 2014M562629]; the Aviation Science Foundation of China [grant number 20155896025], [grant number 20141396012], [grant number 20135896025].