Asymptotic Robust Adaptive Tracking of Parametric Strict-Feedback Systems with Additive Disturbance

This paper deals with the tracking control of multi-inut/multi-output nonlinear parametric strict-feedback systems in the presence of additive disturbances and parametric uncertainties. For such systems, robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C²with bounded time derivatives, we present a C⁰robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero.