Robust Adaptive Control for a Class of Nonlinear Systems with Complex Uncertainties

Seo, Sang-Bo;Back, Ju-Hoon;Shim, Hyung-Bo;Seo, Jin-H.

  • Published : 2009.06.30


This paper considers a robust adaptive stabilization problem for a class of uncertain nonlinear systems which include an unknown virtual control coefficient, an unknown constant parameter, and a time-varying disturbance whose bound is unknown, We propose a new estimator for an un-known virtual control coefficient and present a robust adaptive backstepping design procedure which results in a smooth state feedback control law, a new two-dimensional parameter update law, and a $C^1$ Lyapunov function which is positive definite and proper.


Robust control;Adaptive backstepping;Unknown virtual coefficient;Nonlinear parameterization


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