Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method. (15th March 2013)

• Record Type: Journal Article
• Authors: Zouari, Farouk; Saad, Kamel Ben; Benrejeb, Mohamed
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 3(2013)
• Publication Date: 2013-03-15
• Subjects: Robust Adaptive Control System -- Nonlinear Systems -- Backstepping Method -- Closed-Loop States; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/54932
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system are regularly bounded and the tracking errors converge to zero. The results are illustrated with simulation examples.