Adaptive backstepping control for a class of nonlinear systems with non triangular structural uncertainties

Abstract

A robust adaptive control is designed in this report by utilizing backstepping technique for a class of nonlinear systems with non-triangular structural uncertainties. Given a known function, the modelling error can be estimated at different points on the system which can be handled by mathematical equations. Adaptive backstepping control ensures system to stabilize with a closed-loop bounded output. On top of that, transient performance is carefully monitored to produce desired outcome. Systems with non-triangular structural uncertainties are addressed by simulations to prove the successfulness of adaptive backstepping control.