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eess.SY2023
Dynamic Adaptation Gains for Nonlinear Systems with Unmatched Uncertainties
Brett T. Lopez, Jean-Jacques Slotine
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual…
eess.SY2023
Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties
Samuel G. Gessow, Brett T. Lopez
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched unce…