Dynamical robust adaptive tracking for uncertain nonlinear systems

In this paper, we propose two robust adaptive control schemes for a large class of single-input single-output nonlinear uncertain systems in order to track bounded and smooth trajectories. The method is based on the introduction of a dynamical iterative change of coordinates (DCC) which is a modified version of a dynamical backstepping procedure. The performances of these algorithms are illustrated on a Buck-Boost converter.