Tracking control of biomathematical model of muscular vessel

Based on the backstepping design and Nussbaum-type gain function methods, the tracking control problem of chaotic muscular vessel systems with parameter uncertainties and external disturbances is addressed. The derived adaptive robust tracking controller guarantees that the closed-loop system is globally and uniformly bounded, and the tracking error is convergent to a small neighbourhood of zero. In addition, the singular problem of the controller can be avoided. Simulation results demonstrate the validity of this developed controller.