Abstract
Most real systems are also nonlinear systems and contained the parameter in many cases nonlinearly. But researches on nonlinear parameter systems had been an unsolved problem for a long time. Moreover it is regarded as that the uncertain parameter in a real system changes to environment and time therefore it is more realistic that the uncertain parameter is the time varing parameter. In this paper I&I (Immersion & Invariance) adaptive control system is constituted and the parameter adaptive law which used the internal model principle of the uncertain parameter in it, is applied to a visual servoing problem, and tested thorough simulations.
