L1 Adaptive Control for a Class of Nonaffine-in-Control Nonlinear Systems

This paper presents an L1 adaptive controller for a class of nonlinear systems, nonaffine in control. As compared to previous L1 architectures for nonaffine-in-control systems, the solution discussed in this paper admits a broader class of nonlinear systems by relaxing some of the (restrictive) assumptions previously made. We also consider a more general filtering structure with which we are able to improve performance and robustness of the closed-loop system, compared to prior results of L1 adaptive control for nonaffine-in-control systems.