Abstract
This paper investigates the tracking control of a class of strict-feedback uncertain nonlinear systems in the presence of unknown signs of control coefficients and unknown time-varying parameters as well as unknown disturbances. A robust adaptive controller and a new decoupled backstepping approach to stability analysis are developed by constructing a new compensation scheme. By introducing a Nussbaum function and a new type of hyperbolic tangent function, the effects of unknown time-varying parameters and unknown control coefficients are effectively compensated. By using the decoupled backstepping technique, it is proved that under the proposed control, all closed-loop states are uniform ultimate bounded. A numerical example is presented to demonstrate the effectiveness of the proposed control scheme.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
