Transformation-Based State-Constrained Adaptive Control

In the previous chapter, the neuro-adaptive controller was designed under the assumption of structured modeling uncertainties, which requires precise knowledge of the basis functions. However, this assumption is restrictive and may not be feasible for many practical applications. To address unstructured modeling uncertainties and bounded external disturbances, a new error transformation-based adaptive controller is developed in this chapter. The adaptive controller is designed following both the neuro-adaptive control philosophy (indirect) and direct adaptive control design philosophy, applicable to Euler-Lagrange (EL) systems and more general nonlinear systems.