Output feedback adaptive maneuvering for a class of MIMO nonlinear systems

The output maneuvering problem is defined as solving the geometric and dynamic tasks. Based on the backstepping approach with vector form, a new output feedback adaptive control scheme is presented to solve an output maneuvering problem for multi-input and multi-output (MIMO) nonlinear systems with parametric uncertainty. The geometric and the dynamic tasks are solved meanwhile the global stability of the closed loop systems is guaranteed through the control scheme. The simulation results illustrate the effectiveness of the proposed scheme.