# Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking

arXiv: https://arxiv.org/abs/2007.11801 · HTML: https://mlsanity.com/paper/2007.11801/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Jul 2020.

## Built on by (most cited first, 2 of 2)

- [TRUST-UP: Trustworthy Reinforcement learning Using Safe Techniques for UAV Pursuit](https://mlsanity.com/paper/2411.17552/) (2024)
- [T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics](https://mlsanity.com/paper/2605.24852/) (2026)

## Abstract (arXiv)

A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the error (RISE)-like term in the adaptation law which compensates for potentially destabilizing terms in the closed-loop error system arising from the time-varying nature of uncertain parameters. A Lyapunov-based stability analysis ensures asymptotic tracking, and boundedness of the closed-loop signals.