Adaptive control of non-affine uncertain systems

This paper presents a robust adaptive control design methodology for a class of single-input single-output uncertain non-affine systems subject to additive unknown disturbances. Using the linear in parameters approximation of unknown nonlinearities and the adaptive bounding technique, the developed controller achieves asymptotic convergence of the tracking error to zero, while ensuring boundedness of parameter errors. The developed controller is continues and achieves asymptotic tracking when no knowledge is assumed on the bounds of the unknown quantities. Theoretical developments are illustrated via simulation results.