Robust Control for the Uncertain Nonliner Systems

This paper considers control design using an adaptive backstepping algorithm for a class of nonlinear continuous uncertain processes with disturbances. This approach needs only a transformation to realize. Combining the backstepping method with robust control technology, an adaptive parameter control law is developed and thus the output tracking is successfully accomplished for the system with unknown parameters and dynamic uncertainties. It is proved that the derived robust adaptive controller based on Lyapunov stability theory can guarantee that all states of the closed-loop system are globally uniformly ultimately bounded.