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This article proposed a novel adaptive ETC framework for asymptotic tracking of uncertain nonlinear systems in the presence of unknown virtual control coefficients (UVCC). More precisely, by introducing some well-defined smooth functions and the bounded estimation approach, the effects caused by the unknown UVCC and uncertainties are counteracted. Moreover, a novel Lyapunov function is constructed such that the asymptotical convergence to zero of the tracking error and boundedness of the closed-loop system are successfully achieved. Effectiveness of the proposed strategies is shown by using a simulation example.
Li et al. (Tue,) studied this question.