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Uniform global asymptotic stability of adaptive cascaded nonlinear systems with unknown high-frequency gains

Authors:	Frédéric Mazenc Marcio de Queiroz

Institution:	^a Projet INRIA DISCO, Laboratoire des Signaux et Systèmes, CNRS-Supélec, 3 rue Joliot Curie, 91192 Gif-sur-Yvette, France ^b Department of Mathematics, Louisiana State University, Baton Rouge, LA 70803-4918, USA ^c Department of Mechanical Engineering, Louisiana State University, Baton Rouge, LA 70803-6413, USA

Abstract:	We study adaptive tracking problems for nonlinear systems with unknown control gains. We construct controllers that yield uniform global asymptotic stability for the error dynamics, and hence tracking and parameter estimation for the original systems. Our result is based on a new explicit, global, strict Lyapunov function construction. We illustrate our work using a brushless DC motor turning a mechanical load. We quantify the effects of time-varying uncertainties on the motor electric parameters.

Keywords:	Adaptive control Integral input-to-state stability Lyapunov functions Uniform asymptotic stability
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