Adaptive Tracking Control for a Class of Uncertain Systems With Output Disturbance

In this paper, an adaptive tracking control scheme is proposed for a class of uncertain systems with external disturbance existing in states equation and output disturbance. The output disturbance considered here dose not need to be generated by a known different equation. It leads to the system about coordinate changes variables zi used for virtual controls design no longer meet the triangular requirement of the backstepping approach. Thus the traditional backstepping techniques cannot be used in the controller design. This problem has been solved by the developed robust adaptive control scheme. It is shown that the proposed adaptive control scheme can ensure all signals in the closed-loop system bounded.