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Halftitle -- Title -- Copyright -- Table of Contents -- Preface -- 1. Introduction -- 1.1 Adaptive Control -- 1.2 Adaptive Backstepping Control -- 1.3 Motivation -- 1.3.1 Adaptive Actuator Failure Compensation -- 1.3.2 Decentralized Adaptive Control with Nonsmooth Nonlinearities -- 1.3.3 Distributed Adaptive Consensus Control -- 1.4 Objectives -- 1.5 Preview of Chapters -- 2. Adaptive Backstepping Control -- 2.1 Some Basics -- 2.1.1 Integrator Backstepping -- 2.1.2 Adaptive Backstepping Control -- 2.2 Two Standard Design Schemes -- 2.2.1 Tuning Functions Design -- 2.2.2 Modular Design -- 2.3 Notes -- Part I: Actuator Failure Compensation -- 3. Adaptive Failure Compensation Control of Uncertain Systems -- 3.1 Introduction -- 3.1.1 A Motivating Example -- 3.1.2 Modeling of Actuator Failures -- 3.2 Set-Point Regulation of Linear Systems -- 3.2.1 Problem Formulation -- 3.2.2 Preliminary Designs -- 3.2.3 Design of Adaptive Controllers -- 3.2.4 Stability Analysis -- 3.2.5 An Illustrative Example -- 3.3 Tracking Control of Nonlinear Systems -- 3.3.1 Problem Formulation -- 3.3.2 Preliminary Designs -- 3.3.3 Design of Adaptive Controllers -- 3.3.4 Stability Analysis -- 3.3.5 An Illustrated Example -- 3.4 Notes -- 4. Adaptive Failure Compensation with Guaranteed Transient Performance -- 4.1 Introduction -- 4.2 Problem Formulation -- 4.2.1 Modeling of Actuator Failures -- 4.2.2 Control Objectives -- 4.3 Basic Control Design -- 4.3.1 Design of Adaptive Controllers -- 4.3.2 Stability Analysis -- 4.3.3 Transient Performance Analysis -- 4.4 Prescribed Performance Bounds (PPB) Based Control Design -- 4.4.1 Transformed System -- 4.4.2 Design of Adaptive Controllers -- 4.4.3 Stability Analysis -- 4.5 Simulweion Results -- 4.6 Notes -- 5. Adaptive Compensation for Intermittent Actuator Failures -- 5.1 Introduction -- 5.2 Problem Formulation