Adaptive Robust Control of a Class of Uncertain Nonlinear Systems Based on Backstepping

Abstract

Aiming at the control of a class of bounded disturbance uncertain nonlinear systems,we applied robust control and backstepping control,introduced the concept of virtual control quantity,chose Lyapunov function through stepwise recursion,offered the adaptive law of parameters estimate,designed an adaptive controller with state feedback in the premise of unknown uncertain parameters in the systems, and analyzed its stability. Compared with the conventional PID control in simulation results, the designed controller has the better robustness of the system parameter uncertainty and bounded disturbances, and can ensure the entire closed-loop system is globally asymptotically stable, thus verifying the effectiveness of the proposed control strategy.