Robust Adaptive Control for a class of Nonlinear Uncertain HOFA Systems with Actuator Attacks

In this paper, a robust adaptive controller is proposed for a class of nonlinear uncertain High-order Fully Actuated (HOFA) systems in the presence of actuator attacks. Specifically, a parameterizable adaptive controller is designed to address actuator attacks and nonlinear uncertainties. By employing Lyapunov stability theory, it is demonstrated that the designed robust adaptive controller can guarantee the stability of the closed-loop system. Finally, the effectiveness of the proposed algorithm is verified through the simulation of a numerical example.