Robust adaptive control of strict-feedback nonlinear systems with nonlinear parameterization

This paper presents a new robust adaptive control approach for a class of uncertain strict feedback nonlinear systems with nonlinear parameterization by employing Nussbaum gain and a smooth parameter projection algorithm. It is provided that the proposed adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals with transient specifications. The control performance can be guaranteed by an appropriate choice of the design parameters.