Adaptive Control Scheme for Plants with Time-varying Structure Using On-line Parameter Estimation

A Direct Adaptive Control Scheme to stabilize strict feedback plants with a time-varying structure is presented. Semi-global asymptotic stability is achieved with limited knowledge of the plant dynamics. Simulation of the scheme using a slender delta wing rock phenomenon model as practical example, confirming the results of the mathematical formulation of the control scheme. Various initial conditions are simulated showing the ability of the scheme to stabilize the plant over a wide range of operation.