Adaptive Control of Nonlinear Systems with Parameter Uncertainty Based on the Fully Actuated System Approaches

This paper focuses on the adaptive control for nonlinear systems with uncertain parameters. Unlike previous literature, this paper uses high-order fully actuated (HOFA) system approaches to design an adaptive controller for nonlinear systems. The process of controller design is much easier than traditional methods and the parameter uncertainty is successfully compensated. The proposed controller enables the system to achieve asymptotic stability. Finally, two examples of strict-feedback nonlinear systems are used to fully verify the effectiveness of the theoretical results.