Design of robust adaptive controller based on the control Lyapunov function

The problem of adaptive stabilization for a class of nonlinear systems with unknown parameters both in state vector and control vector is studied.By employing the robust control Lyapunov function and parameter projection techniques,the problem of adaptive stabilization is discussed according to I-ARCLF and Ⅱ-ARCLF of the system,and two adaptive controllers are designed to realize stabilization,respectively.