Novel Adaptive Robust Control for A Class of Uncertain Nonlinear System

Adaptive robust control strategy for a class of uncertain nonlinear systems using Lyapunov\´s stability theory is proposed. The mechanism is based on "model decomposition": an adaptive controller is adopted to eliminate the parameters uncertainty; a robust controller is adopted to attenuate the unknown dynamics, disturbances, and unmodeled dynamics; a feedback controller is developed to dominate the nominal plant. The three controllers compose the integrated controller for the uncertain nonlinear system. The scheme is applied on high-order single-input single-output and multi-input multi-output uncertain nonlinear system, and the stability is proved. Theoretical result is supported by simulation of the attitude control of flapping wing micro aerial vehicle, and the validity of the proposed method is verified.