IEEE/CAA Journal of Automatica Sinica
Citation:  H. F. Ye and Y. D. Song, “Adaptive control with guaranteed transient behavior and zero steadystate error for systems with timevarying parameters,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 6, pp. 1073–1082, Jun. 2022. doi: 10.1109/JAS.2022.105608 
It is nontrivial to achieve global zeroerror regulation for uncertain nonlinear systems. The underlying problem becomes even more challenging if mismatched uncertainties and unknown timevarying control gain are involved, yet certain performance specifications are also pursued. In this work, we present an adaptive control method, which, without the persistent excitation (PE) condition, is able to ensure global zeroerror regulation with guaranteed output performance for parametric strictfeedback systems involving fast timevarying parameters in the feedback path and input path. The development of our control scheme benefits from generalized
dependent and
dependent functions, a novel coordinate transformation and “congelation of variables” method. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
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