Adaptive backstepping control of nonlinear systems

In this paper, a novel adaptive backstepping control scheme is proposed for a class of nonlinear systems with unknown disturbances. A new adaptive disturbance approximation algorithm is proposed to estimate unknown compound disturbances, including external disturbances and system uncertainties. The controller is designed by combining adaptive and backstepping methods. The Lyapunov function is applied to ensure stability of the system. Simulation results demonstrated the effectiveness of the proposed control technique.