Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance

This note deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, C⁰ robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C² with bounded time derivatives, we present a C⁰ robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero.