Adaptive control of a class of MIMO nonlinear systems with input saturation

In this paper, an adaptive control scheme for a class of MIMO high order nonlinear systems with input saturation is proposed. By proposing a novel Nussbaum-type function, the augmented system approach is extended to the saturated and MIMO nonaffine nonlinear systems and Lyapunov stability is established. The uncertain parameters and external disturbances are not required to be in a known compact set. Globally asymptotically convergence of tracking errors has been established and a simulation example is given to illustrate the effectiveness of the proposed control scheme.