Global adaptive stabilization for a class of uncertain multivariable systems with nonlinear parametrization

This paper proposes an adaptive stabilization control scheme for a class of multivariable interconnected nonlinear systems with nonlinear parametrization. It is a systematic result in a sense that the proposed control scheme is a general one that also applies to systems with linear parametrization, without changing the controller structure. A novel integrated framework is built by means of a functional bounding technique for handling nonlinear parameter/structure uncertainties, a modified backstepping method for designing continuous state-feedback controllers, and Lyapunov stability analysis for stabilizing interconnected system states and parameter estimates. A commonly physical simulation and a representative numerical simulation are presented, and their results demonstrate the effectiveness of the proposed control scheme.