| The problem of adaptive control and application for uncertain nonlinear systems has attracted increasing attention. In the research of modern control theory, geometric method and the Lyapunov-based stability theory are the most important tools to investigate the problem of the adaptive control for uncertainty nonlinear systems. In the design and synthesis of nonlinear systems with parametric and structural uncertainty, especially with parameter uncertainty, the adaptive control based on Backstepping approach has made a breakthrough and become the highlight in the control theory. However, what the most existing results deal with is the SISO nonlinear systems, the results for MIMO nonlinear uncertain systems are seldom found.The goal of this paper is to investigate the adaptive control based on output feedback for a class of parametric strict-feedback multi-input multi-output nonlinear systems with parametric uncertainty. For such MIMO nonlinear systems with parametric uncertainty or exogenous signals, the assumptions for the high frequency gain matrix of the systems are relaxed using so-called Nussbaum gain or the factorization of the high frequency gain matrix. Enlightened by the output tracking design, the output maneuvering for such systems is taken into account. The main results in this paper are as follows:1. Compared to the positive define assumption for the high frequency gain matrix K p (or K pS ) of the MIMO linear systems, in this paper, only the hurwitz is required. The output feedback adaptive controller is presented based on Backstepping method which renders the tracking error arbitrary small and all signals of the closed-loop systems are bounded through the proposed scheme.2. When the sign of the leading minitor of the high frequency gain matrix Bm is known, the output feedback adaptive controller based on Backstepping method is presented using the so-called S1 , D1 ,U 1 factorization for Bm . The design scheme guarantees that the tracking...
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