Adaptive control of uncertain systems using function approximations and adaptive bounding

This paper presents a robust adaptive control design method for a class of multi-input multi-output uncertain nonlinear systems in the presence of parametric and non-parametric uncertainties and bounded disturbances. Using the linear in parameters approximation of unknown nonlinearities and the adaptive bounding technique, the developed controller achieves asymptotic convergence of the tracking error to zero, while ensuring boundedness of parameter errors. The algorithm does not assume the knowledge of any bound on the unknown quantities in designing the controller, and uses the recently developed integral technique to achieve continuity of it. Theoretical developments are illustrated via simulation results.