针对一类不确定非线性系统 ,设计出一种新的自适应控制器 ,它克服了现有方案存在的过多参数辨识问题 ,从而降低了控制器的动态阶次 .在较弱条件下 ,该控制器不仅能保证闭环系统所有信号有界 ,而且能使跟踪误差以指数速度收敛到零的有界小邻域内 For a class of uncertain nonlinear systems, a new adaptive controller is designed, which overcomes the existing problems of too many parameters identification and reduces the dynamic order of the controller. In the weak condition, The controller can not only ensure that all signals in the closed-loop system are bounded, but also make the tracking error converge to zero bounding small neighborhood at exponential speed