Nonlinear adaptive control using networks of piecewise linear approximators

This paper presents a stable nonparametric adaptive control approach using a piecewise local linear approximator. The basic structure of the controller is based on the feedback linearizing control plus sliding control structure to ensure the global stability. As for distinctive features, the continuous piecewise linear approximator is newly introduced and a time varying activation region is defined for efficient self-organization of the approximator during operation. The feasibility of the piecewise linear adaptive control method is demonstrated by a computational simulation