Robust adaptive control of nonlinear discrete-time systems by backstepping without overparametrization
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Robust adaptive control for nonlinear discrete-time systems with uncertain time-varying parameters, unmodeled dynamics and external disturbances is considered. This paper is the extension of [\textit{Y. Zhang}, \textit{C. Wen} and \textit{Y. C. Soh}, IEEE Trans. Autom. Control 45, 1749-1755 (2000; Zbl 0990.93062)], reviewed above, to overcome the overparametrization problem. The parameter estimator is not only postponed to the last step of the backstepping design but also constructed by using all errors in each backstepping step. The proposed adaptive controller can guarantee the global boundedness of states of the whole adaptive systems. It can also ensure that the tracking error falls within a compact set whose size is proportional to the magnitude of uncertainties and disturbances.
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