Robust Adaptive Control of a Class of Uncertain Nonlinear Systems
一类不确定非线性系统的鲁棒自适应控制

A new adaptive controller is designed for a calss of uncertain nonlinear systems,it eliminates overparametrization existed in the existing schemes and reduces the controller's dynamic order. Under relatively weak conditions, the controller can guarantee the global boundness of all closed loop signals and force the tracking error to converge exponentially to a small bounded neighbourhood of zero.