Nonlinear Adaptive H Control under Constraint

The problem of constructing nonlinear adaptive H_infin control of mechanical systems under costraints is considered in this paper. In the proposed control scheme, the trajectory converges to the desired constrained trajectory, and the constraint force also follows the desired constraint one. The resulting control strategy is derived as a solution of certain H_infin control problem, where estimation errors of tuning parameters and errors of constraint forces are regarded as external disturbances to the process.