Robust Adaptive Control Design for Nonlinear Systems with Uncertainty Based on Backstepping Method

Abstract

This paper discusses a design method of a robust adaptive stabilizing controller for nonlinear systems with uncertainty. The control scheme proposed in [5] for nonlinear systems with relative degree 1 is extended to nonlinear systems with relative degree more than 1. The robust adaptive stabilizing controller is obtained using the control scheme in [5] recursively.