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

Abstract This paper proposes an adaptive stabilization controlscheme 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 generalone that also applies to systems with linear parametrization, without changing the controllerstructure.A novel integrated framework is built by means ofa functional bounding technique for handling nonlinear parameter/structure uncertainties, a modifiedbackstepping method for designing continuous state-feedback controllers, andLyapunov 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.