Robust switching adaptive control of multi-input nonlinear systems

We develop a general procedure for designing robust adaptive controllers for a large class of multi-input nonlinear systems. This class of nonlinear systems includes, as a special case, multi-input feedback-linearizable systems, parametric-pure-feedback systems and systems that admit a linear-in-the-parameters control Lyapunov functions (CLF). The proposed approach uses tools from the theory of robust CLF and the switching adaptive controllers proposed by the authors for overcoming the problem of computing the feedback control law when the estimation model becomes uncontrollable. The control approach proposed has also been shown to be robust with respect to exogeneous bounded input disturbances