ROBUST ADAPTIVE CONTROL FOR STRICT-FEEDBACK NONLINEAR SYSTEMS

Abstract

In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict-feedback nonlinear systems with nonparametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known nonlinear functions. The proposed method can deal with uncertain nonlinearities that appear at the control input term too. It is also shown that suitable choice of design parameters guarantees the convergence of tracking error to any desired bound.