This paper studies the robust adaptive control problem by partial-state feedback of a class of switched nonlinearly parameterised systems with dynamic uncertainties. A constructive robust adaptive control technique is provided by exploiting the parameter separation technique and backstepping and the average dwell time method. A modified dynamic signal is designed to dominate the dynamic uncertainties. Also, adaptive partial-state feedback controllers of subsystems are constructed explicitly, which guarantee that all signals of the closed-loop system remain bounded under a class of switching signals with average dwell time, while the system output converges to a small neighbourhood of the origin. Meanwhile, the problem of adaptive output-feedback control of a class of switched nonlinearly parameterised systems is solved by constructing a switched observer. An illustration example is used to demonstrate the feasibility of the theoretical results.