| dc.contributor.author | Lopez, Brett T. | |
| dc.contributor.author | Slotine, Jean-Jacques E. | |
| dc.date.accessioned | 2024-05-17T16:02:53Z | |
| dc.date.available | 2024-05-17T16:02:53Z | |
| dc.date.issued | 2022 | |
| dc.identifier.issn | 2475-1456 | |
| dc.identifier.uri | https://hdl.handle.net/1721.1/154993 | |
| dc.description.abstract | This letter develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on stability. The method can be immediately combined with a previously designed or learned feedback policy if a corresponding model-parameterized Lyapunov function or contraction metric is known. Simulation results of various nonlinear systems with unmatched uncertainties illustrate the approach. | en_US |
| dc.language.iso | en | |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.relation.isversionof | 10.1109/lcsys.2021.3133359 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-ShareAlike | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
| dc.source | arxiv | en_US |
| dc.title | Universal Adaptive Control of Nonlinear Systems | en_US |
| dc.type | Article | en_US |
| dc.identifier.citation | B. T. Lopez and J. -J. E. Slotine, "Universal Adaptive Control of Nonlinear Systems," in IEEE Control Systems Letters, vol. 6, pp. 1826-1830, 2022. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
| dc.contributor.department | Massachusetts Institute of Technology. Nonlinear Systems Laboratory | |
| dc.relation.journal | IEEE Control Systems Letters | en_US |
| dc.eprint.version | Author's final manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/JournalArticle | en_US |
| eprint.status | http://purl.org/eprint/status/PeerReviewed | en_US |
| dc.date.updated | 2024-05-17T15:44:44Z | |
| dspace.orderedauthors | Lopez, BT; Slotine, J-JE | en_US |
| dspace.date.submission | 2024-05-17T15:44:46Z | |
| mit.journal.volume | 6 | en_US |
| mit.license | OPEN_ACCESS_POLICY | |
| mit.metadata.status | Authority Work and Publication Information Needed | en_US |
