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Nonlinear Adaptive Control based on Lyapunov Analysis: Overview and Survey

리아프노브 분석법 기반 비선형 적응제어 개요 및 연구동향 조사

  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Lee, Jae Young (Department of Electrical and Electronic Engineering, Yonsei University)
  • 박진배 (연세대학교 전기전자공학과) ;
  • 이재영 (연세대학교 전기전자공학과)
  • Received : 2014.01.24
  • Accepted : 2014.02.03
  • Published : 2014.03.01

Abstract

This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.

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