We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would otherwise destabilize the closed-loop system. The approach also guarantees the restoration of the adaptation gains to their nominal values and can readily incorporate direct adaptation laws for matched uncertainties. The proposed framework is general as it only requires stabilizability for all possible models.

翻译：本文提出一种针对同时存在非匹配与匹配不确定性的非线性系统的直接自适应控制新方法。该方法通过调节各非匹配参数的自适应增益，避免其自适应暂态过程导致闭环系统失稳。该方案既能保证自适应增益恢复至标称值，又可便捷地融入匹配不确定性的直接自适应律。所提框架具有通用性，仅需确保所有可能模型均具备可镇定条件。