Adaptive stabilization for a more general class of high-order uncertain nonlinear systems

The problem of global adaptive stabilization by state-feedback is investigated for a class of high-order nonlinear systems with uncertain control coefficients and unmeasurable zero dynamics. First, some appropriate unknown parameters are introduced to obtain the updating laws which are necessary parts in adaptive control. Then, by the flexible way of combing adding a power integrator with adaptive technique and the idea of changing supply functions, the requirement on the unknown control coefficients is relaxed, and a recursive design procedure is successfully developed to achieve a continuous adaptive stabilizing controller.