Model-Free Adaptive Control with Contractive Constraints for Nonlinear Systems

In this paper, a new control scheme named model-free adaptive control with contractive constraints (MFAC-CC) is proposed based on compact form dynamic linearization (CFDL) for a class of nonlinear systems. In this strategy, contractive constraints are added into the model-free adaptive control (MFAC) algorithm, which lead to the tracking error decaying gradually. A numerical comparison experiment between the MFAC-CC and MFAC verifies the good tracking performance of the new control scheme.