Robust adaptive stabilization for time varying uncertain nonlinear systems with unknown control coefficients

This paper presents a robust adaptive control approach for a class of time-varying uncertain nonlinear systems in the strict feedback form with completely unknown time-varying control coefficients, time-varying parameters and unknown disturbances. The proposed design method does not require any a priori knowledge of the unknown control coefficients. It is proved that the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals.