Robust adaptive control for a class of nonlinear systems with uncertainties and input constraints

Robust adaptive controllers for multivariable nonlinear systems with fast convergence rate are designed, in spite of unwanted effects of external disturbances and input constraints. The proposed adaptive controller guarantees the local stability of the plant in the presence of input constraints, with required conditions on the upper bound for controller parameter matrices and initial conditions of the plant. These results are applied to a simulation study.