Nonlinear adaptive control based on lyapunov analysis: Overview and survey

Jin Bae Park, Jae Young Lee

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/H control.

Original languageEnglish
Pages (from-to)261-269
Number of pages9
JournalJournal of Institute of Control, Robotics and Systems
Issue number3
Publication statusPublished - 2014

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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