Design of the Adaptive Controller Based on Tuning Function

A robust adaptive approach based on the tuning function is presented for nonlinear system with uncertainties that can be partially linearized in triangular form via the backstepping procedure.Considering the non-asymptotical stability of the zero dynamic,an analysis on the semi-global stability of the closed-loop system with feedback control law is carried out by using the centre manifold theorem.At last,the designed robust adaptive controller is applied to the attitude control of AUV with a satisfying performance in the simulation.