Mutual reference adaptive control of nonlinear uncertain systems

The popular model reference adaptive control (MRAC) technique is extended to the case of two nonlinear dynamical systems mutually tracking and/or avoiding each other in a specified sense, subject to bounded uncertainty of their parameters (MURAC). The error equation approach classical in MRAC is replaced by a different approach which may be called the product-state-space method. Signal adaptive feedback controllers and adaptive laws are proposed together with sufficient conditions for the required tracking and avoidance. Application to a mechanical system illustrates the results.