Adaptive robust H∞, control for nonlinear systems with parametric uncertainties and external disturbances

This paper proposes a novel design method for the adaptive robust Ho, control problem of a class of nonlinear systems with parametric uncertainties and external disturbances, which combines adaptive control and robust H∞, control techniques. By the use of the parameter projection method in adaptive control, the adaptive control laws are derived. Based on Hamilton-Jacobi inequalities, the adaptive robust H∞, controllers are designed. A numerical simulation demonstrates the correctness of the proposed design method.