A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

  title={A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics},
  author={Zhong-Ping Jiang and David John Hill},
  journal={IEEE Trans. Automat. Contr.},
This paper presents a constructive robust adaptive nonlinear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics. In contrast to [5]–[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of… CONTINUE READING
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