Robust Adaptive Learning Control for a Class of Non-affine Nonlinear Systems
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866912866733391872 |
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| author | Gao, Shuai Shen, Dong Tayebi, Abdelhamid |
| author_facet | Gao, Shuai Shen, Dong Tayebi, Abdelhamid |
| contents | We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a gradient descent parameter adaptation law to handle the unknown time-varying parameters of the system, along with a state estimator that estimates the unmeasurable state variables. Furthermore, despite the inherently complex nature of the non-affine system, we provide an explicit iterative computation method to facilitate the implementation of the proposed control scheme. The paper includes a thorough analysis of the performance of the proposed control strategy, and simulation results are presented to demonstrate the effectiveness of the approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_00968 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Robust Adaptive Learning Control for a Class of Non-affine Nonlinear Systems Gao, Shuai Shen, Dong Tayebi, Abdelhamid Systems and Control We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a gradient descent parameter adaptation law to handle the unknown time-varying parameters of the system, along with a state estimator that estimates the unmeasurable state variables. Furthermore, despite the inherently complex nature of the non-affine system, we provide an explicit iterative computation method to facilitate the implementation of the proposed control scheme. The paper includes a thorough analysis of the performance of the proposed control strategy, and simulation results are presented to demonstrate the effectiveness of the approach. |
| title | Robust Adaptive Learning Control for a Class of Non-affine Nonlinear Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2602.00968 |