Adaptive Compensation of Control Dependent Modeling Uncertainties using Time-Scale Separation

For nonlinear systems with uncertain nonaffine-in-control dynamics, a direct adaptive model reference control design is proposed that augments a given baseline/nominal dynamic inversion controller. The proposed adaptive augmentation is computed online as a solution of a fast dynamical equation. Such a solution is shown to compensate for control dependent modeling uncertainties via time-scale separation. A simulation example which is motivated by aerospace applications illustrates the theoretical results.