Adaptive Backstepping Control Design for Nonlinear System

In this paper, adaptive backstepping control is investigated for coupled nonlinear springs. A dynamic model of coupled special nonlinear springs is established with uncertain parameters. The conventional adaptive approaches for nonlinear systems’ control use Lyapunov’s second method that need full state estimation. To overcome this problem an FPI-based Model Reference Adaptive Backstepping Controller has been invented. The adaptive backstepping algorithm is designed to achieve stability for the nonlinear system. The idea of backstepping design is to coerce the error signal to zero by implementing a virtual control strategy. The consequences of the unknown parameters of the system are compensated by adaptive law. Simulation results are presented to show the effectiveness of the proposed control.