Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form (Q1360465)

The authors of this paper investigate robust adaptive control of a class of single-input, single-output (SISO) nonlinear systems transformable to a semi-strict feedback form. These systems can possess both parameter uncertainties and unknown linear functions representing modeling errors and external disturbances. The authors develop a systematic way to combine backstepping adaptive control with deterministic robust control provided that there is prior knowledge of the bounds of the parameter uncertainties and known bounding functions of the unknown linear functions. The authors' method preserves the advantages of each part of the hybrid approach: asymptotic stability of adaptive control in the presence of parametric uncertainties and guaranteed transient performance with the prescribed precision of deterministic robust control for both parametric uncertainties and unknown nonlinear functions. Simulation results for a simple example illustrate the authors' results.