Tracking control of nonlinear systems via backstepping design

This paper treats the tracking control problem of nonlinear continuous system. A backstepping design technique is used here for being a powerful, robust nonlinear strategy and for its ability to ensure a asymptotic stability of the controlled system without canceling useful nonlinearities. The basic idea of backstepping design is that a complex nonlinear system is decomposed into the subsystems, and the degree of each subsystem doesnt exceed that of the whole system. Accordingly, the Lyapunov function and medial-fictitious control are designed respectively, and the whole system is obtained through backstepping. Thus the control rule is designed thoroughly. The backstepping method is called as back-deduce method, and the desired dynamic indexes are satisfied.