Adaptive backstepping control design for systems with unknown high-frequency gain

Abstract

In this correspondence, Nussbaum gains are introduced in the backstepping design to obtain adaptive controllers for systems with unknown high-frequency gain. Two kinds of modified backstepping control design schemes are developed. It is shown that both schemes can give asymptotic tracking. 
DOI: 10.1109/9.895572

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@article{Zhang2000AdaptiveBC, title={Adaptive backstepping control design for systems with unknown high-frequency gain}, author={Ying Zhang and Changyun Wen and Yeng Chai Soh}, journal={IEEE Trans. Automat. Contr.}, year={2000}, volume={45}, pages={2350-2354} }