A Design Method of Nonlinear Robust H_∞ Controller with Adaptive Mechanism

Abstract

This paper presents an adaptive robust H_∞ controller for nonlinear systems with gain bounded uncertainty. A class of systems with cascade form is considered and it is shown that a storage function ensuring robust dissipativity of closed loop system can be constructed by recursive argument and the adaptive controller can be constructed based on the storage function. The result of this paper extends the robust H_∞ control approach with Lyapunov-like recursive arguments used in recent adaptive control schemes.