Intelligent adaptive backstepping controller design based on the adaptive particle swarm optimization

An improved adaptive backstepping controller design method is proposed for a single input and single output nonlinear system with uncertainty and unknown parameter. The controller expression with undetermined parameters can be acquired by using adaptive backstepping design idea, and the controller parameters are optimized on using the adaptive particle swarm optimization (APSO). The backstepping controller can overcome the plant uncertainties and ensure the robust stability of system. The APSO is used to offset the disturbance and improve the tracking precision. Simulation experimental showed the method effectual.