Robust adaptive control for a class of perturbed strict-feedback nonlinear systems

Abstract

In this paper, robust adaptive control is presented for a class of perturbed strict-feedback nonlinear systems with both completely unknown control coefficients and parametric uncertainties. The proposed design method does not require the a priori knowledge of the signs of the unknown control coefficients. It is proved that the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals.