Adaptive nonlinear control an estimation-based algorithm

This has been succesfully performed in the case of a robot arm with as many motors as axis. Two rather different methcxls have been used. For example: [Mi-Go] proposes an adaptive controller where the estimation of p ' is performed without taking into account the control law to be used, the certainty equivalence law is feedback tinearisation, and some additive terms are added to compensate for the effect of updating t~. This is an estimation-based approach. LSI-Li] proposes to update : to make a global positive function decrease. The certainty equivalence control law is not