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|Title:||Stable adaptive control for a class of nonlinear systems using a modified Lyapunov function|
|Citation:||Zhang, T., Ge, S.S., Hang, C.C. (2000). Stable adaptive control for a class of nonlinear systems using a modified Lyapunov function. IEEE Transactions on Automatic Control 45 (1) : 129-132. ScholarBank@NUS Repository. https://doi.org/10.1109/9.827369|
|Abstract:||This paper investigates the adaptive control design for a class of nonlinear systems using Lyapunov's stability theory. The proposed method is developed based on a novel Lyapunov function, which removes the possible controller singularity problem in some of the existing adaptive control schemes using feedback linearization techniques. The resulting closed-loop system is proven to be globally stable, and the output tracking error converges to an adjustable neighborhood of zero.|
|Source Title:||IEEE Transactions on Automatic Control|
|Appears in Collections:||Staff Publications|
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