Adaptive control for a class of nonlinear uncertain dynamical systems with time-varying

This paper presents a nonlinear adaptive control framework for a class of nonlinear uncertain dynamical systems with time-varying that guarantees ultimately bounded of the closed-loop systems. In particular, we develop both full-state feedback control law and output feedback law. In addition, we consider a expanded condition. By analyzing a Lyapunov-like function, we show that the framework guarantees ultimately bounded of the closed-loop systems.