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中文摘要：
针对一类含有未知控制方向和时变不确定性的本质非线性系统，应用Nussbaum-type增益技术和Adding a power integrator递推设计方法，设计了一种鲁棒自适应状态反馈拉制器．所设计的控制器能保证闭环系统所有信号全局一致有界，特别是通过适当调整控制器设计参数，可使输出跟踪误差在有限时间后变得适当小．最后通过仿真实例对算法进行验证.
英文摘要：
A robust adaptive state feedback controller is designed for a class of uncertain inherently nonlinear systems with both time-varying uncertainties and unknown control directions, by employing the Nussbaum-type gain technique and the adding a power integrator design. The proposed controller can ensure all the signals of the closedloop system globally uniformly bounded. Especially, the output tracking error can be made properly small in finite time by tuning the design parameters. A simulation example verifies the scheme.
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