On Dynamic Diffeomorphism for Feedback Linearizable Uncertain Systems

A systematic procedure is presented to develop a new adaptive control scheme for a class of uncertain nonlinear systems to achieve asymptotic state regulation. Our new approach is to add an integrator-type function to a diffeomorphism to deal with parametric uncertainty in the system. Our approach does not explicitly require some existing geometrically restrictive conditions such as the triangularity, feedforward, or the parametric-strict-feedback conditions, etc