Adaptive Control Designing for a Class of Uncertain Systems Based on Partition of Unity with PI and Estimate Gains

This paper is concerned with the problem of the robust tracking control for a class of uncertain nonlinear system with disturbances. By utilizing the property that partition of unity can approximate any continuous function on the compact set at arbitrary precision, the robust tracking controllers with PI structure and adaptive laws are designed. The results show that the tracking errors converge to zero and all states in the closed-loop systems are bounded via the controllers. Finally, we apply a numerical simulation to illustrate the validity of the method in this paper.