This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on closed-loop stability. The method can be immediately combined with a previously designed or learned feedback policy if a corresponding model-parameterized Lyapunov function or contraction metric is known. Simulation results of various nonlinear systems with unmatched uncertainties demonstrates the approach.

翻译：这项工作开发了新的直接适应性控制框架,将确定性等同原则扩大到具有不匹配模型不确定性的普通非线性系统。该方法调整在线适应率,以消除参数估计短暂性对闭环稳定性的影响。如果知道相应的模型参数性Lyapunov功能或收缩度测量,该方法可以立即与先前设计或学习的反馈政策相结合。各种具有不匹配不确定性的非线性系统的模拟结果证明了这一方法。