Adaptive tracking control for a class of uncertain pure-feedback systems

This paper concerns the global output tracking for uncertain pure-feedback systems. By adding an integrator, the original systems with nonaffine-in-control are transformed into the augmented affine-in-control systems. Through a novel change of coordinates, an adaptive control scheme is proposed via backstepping approach, which eliminates the need of overparametrization. It is proven that the proposed control scheme is sufficient to ensure the global asymptotic tracking, as well as the boundedness of all the closed-loop signals. An illustrative example is provided to demonstrate the feasibility of the proposed method. Copyright (c) 2015 John Wiley & Sons, Ltd.