Robust adaptive backstepping control for a class of uncertain nonlinear system

In this paper, a robust adaptive backstepping output feedback control is designed for a class of n-th order multiple-input multiple-output (MIMO) nonlinear systems with uncertainties. This robust adaptive backstepping control method is a Lyapunov-function-based approach and not susceptible to the system model uncertainty. In the control law design procedure, only the measurements of state derivatives and a part of model knowledge are needed. Simulation results show that the proposed control law guarantees the stability of the closed-loop system and leads to good tracking performance for the with nonlinear system model uncertainty.