Adaptive control for a class of uncertain nonlinear system with input magnitude and rate saturation

This article presents a new adaptive controller for a class of uncertain multiple-input multiple-output nonlinear systems with input magnitude and rate saturation. To deal with input saturation, an auxiliary system is constructed. With the auxiliary system, a modified tracking error is defined and used in parameters update laws. The stability properties of the proposed controller are obtained via Lyapunov analysis. The bounds of steady states tracking error and transient tracking error are obtained. An numerical example is given to illustrate the efficiency of the design method.