A Composite Adaptive Control Approach for a Class of Uncertain Fully Actuated Systems

This paper addresses the composite adaptive control problem for a class of uncertain fully actuated systems (FASs). A composite adaptive fully actuated (CAFA) approach based on a serial-parallel estimation model is proposed in the framework of FASs. In the proposed approach, the estimation error of states and tracking error are combined to construct the updating laws for uncertain terms, thus achieving an accurate approximation result and ensuring steady state tracking performance simultaneously. Simulations based on two numerical examples are carried out to validate the effectiveness of the proposed approach.