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Adaptive Output Feedback Control of Uncertain Nonlinear Systems with Time-Varying Parameters

In this paper, we present an adaptive output feedback control scheme for a class of uncertain nonlinear output-feedback form with time-varying parameters to which adaptive observer backstepping technique may not be applicable directly. In observer design, with the introduction of design function, we can deal with time-varying parameters in a very effective way. By the presented scheme, estimation error can be tuned to a desired small region around the origin via the design constants. Consequently, the observer with the presented design functions and the backstepping methodology achieve a robust regulation of the output tracking error while maintaining boundedness of all the signals and states.