A Note on Nussbaum-type Control and Lie-bracket Approximation

Abstract: In this paper, we propose an adaptive control law for completely unknown scalar linear systems based on Lie-bracket approximation methods. We investigate stability and convergence properties for the resulting Lie-bracket system, compare our proposal with existing Nussbaum-type solutions and demonstrate our results with an example. Even though we prove global stability properties of the Lie-bracket system, the stability properties of the proposed dynamics remain open, making the proposed control law an object of further studies. We elaborate the difficulties of establishing stability results by investigating connections to partial stability as well as studying the corresponding Chen-Fliess expansion.