Adaptive Backstepping Control

Adaptive backstepping algorithms for a class of nonlinear continuous uncertain processes with disturbances are considered. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. The algorithms follow a systematic procedure for the design of adaptive control laws for the output of observable minimum phase nonlinear systems. This class of systems may include unmatched uncertainty including disturbances and unmodelled dynamics. The design methods are based upon (i) the backstepping approach, and (ii) a combination of sliding and backstepping.

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