Abstract: In this study we propose a direct adaptive control scheme for a class of nonlinear systems. The architecture is based on radial basis functions, RBF, network to construct the adaptive controller. The parameters of the adaptive controller are changed according to a law derived using Lyapunov stability theory and the center of the of the RBF are adapted using the k-means algorithm. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Computer simulations are presented to show the validity and the performance of the proposed method.