STUDY ON INTELLIGENT ROBUST NONLINEAR ADAPTIVE CONTROL

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1) Design methods of adaptive control systems for nonlinear processes with unknown degrees were proposed by utilizing high-gain feedback schemes and backstepping procedures. Minimal construction of those adaptive control systems was also discussed. It was shown that the resulting adaptive systems has no residual tracking errors in the ideal case. The related references are 1), 2), 3), 4), and 5).2) The research results of 1) were extended, and the design method of adaptive control systems with uncertain relative degrees (3-degree of uncertainty) were given by considering the property of strictly positive real rational functions. Universal adaptive controllers which deal with not only uncertain relative degrees but also unknown sign of high-frequency gains, were proposed, too. Adaptive stabilizing control, model reference adaptive control and adaptive servo control of those properties were obtained. The related references are 8), 9), 11), 12), 13), 14) and 15).3) Design methods of (adaptive) control systems for bilinear processes were obtained, parts of which were applied to the design of semi-active suspension systems in real vehicles. The related references are 6), 7), and 10).