Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method

[摘要] This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system are regularly bounded and the tracking errors converge to zero. The results are illustrated with simulation examples.

[学科分类] 自动化工程

[关键词] Robust Adaptive Control System;Nonlinear Systems;Backstepping Method;Closed-Loop States