Decreasing the Value of Specified Cost Function by Adaptive Controller Based on Modified ACLF for a Class of Nonlinear Systems

Abstract EN

A new nonlinear adaptive control law for a class of uncertain nonlinear systems is proposed.

The proposed control law is designed by a modified adaptive control Lyapunov function (ACLF) which satisfies a Hamilton-Jacobi-Bellman (HJB) equation.

The modified ACLF is derived from transformation of an ACLF.

The proposed control law is different from the inverse optimal one in decreasing the value of a cost function specified by a designer.

In this paper, we show a transformation coefficient for an ACLF and a design method of a nonlinear adaptive controller.

Finally, it is shown by a numerical simulation that the proposed control law decreases the value of a given cost function and achieves the desirable trajectory.