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Only in the first step, the Nussbaum gain technique is utilized to handle the uncertain virtual control gain. In the remaining steps, virtual control gains are dealt with by constructing novel control laws without the approximation of the uncertain nonlinear functions and external disturbances by neural networks or fuzzy logic. New adaptive laws are defined to compensate for unknown virtual control gains, uncertain parameters, and external disturbances. Finally, an adaptive tracking controller is designed and applied to the control of a 3\u2010order robot system, which guarantees the boundedness of all the signals in the closed\u2010loop system and asymptotic stability of the tracking error.<\/jats:p>","DOI":"10.1155\/2022\/7408077","type":"journal-article","created":{"date-parts":[[2022,3,28]],"date-time":"2022-03-28T14:50:08Z","timestamp":1648479008000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A New Adaptive Controller for Nonlinear Systems with Uncertain Virtual Control Gains"],"prefix":"10.1155","volume":"2022","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6903-8192","authenticated-orcid":false,"given":"Wei","family":"Xiao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5412-1196","authenticated-orcid":false,"given":"Zhixiang","family":"Yin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9082-2638","authenticated-orcid":false,"given":"Tianyue","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7632-6873","authenticated-orcid":false,"given":"Zi","family":"Ye","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2455-8167","authenticated-orcid":false,"given":"Xiaoqi","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2022,3,28]]},"reference":[{"key":"e_1_2_8_1_2","volume-title":"Adaptive Control-The Model Reference Approach","author":"Landau Y. 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