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I presented the state equation of a class of uncertain nonlinear system with bounded disturbance. By introducing the virtual control variable, combining robust control with backstepping approach and recursively selecting the Lyapunov function, I designed an adaptive controller with state feedback, and analyzed its stability. This design needs no knowledge about the uncertainty internal parameters of the system. Simulation results show the control system has good position tracking performance and strong robustness, validating the efficacy of the proposed control strategy.