Robust adaptive backstepping control of a class of uncertain nonlinear system

For the control of a class of nonlinear system with bounded disturbance uncertainties, by combining robust control and backstepping control, introducing the virtual control variable, recursively selecting the Lyapunov function, offering the adaptive law of parameters estimate, I designed an adaptive controller with state feedback, and analyzed its stability. This design needs no knowledge about the uncertainty internal parameters of the system. Theoretical analysis and simulation results show that the designed controller has better robustness to parameters uncertainties and bounded disturbance, and it can guarantee global asymptotic stability of the closed-loop system, which validates the efficacy of the proposed control strategy.