Robust adaptive control of multi-input cascade nonlinear systems with unmodelled dynamics (Q2744336)

The present paper is devoted to a class of multi-input cascaded nonlinear differential systems with unknown parameter vector and unmodelled dynamics. It is assumed that the norms of modelled dynamics are dominated by some known nonnegative functions, which are independent of time. An adaptive controller is given and the control design is based on the well-known backstepping recursive design method. It is proved that all signals of the closed-loop system are globally bounded, and the states of the first subsystem converge to a neighbouring region of the origin.NEWLINENEWLINENEWLINEA few misprints are in the paper. For example, in the hypothesis 2 on page 191 the expression \(f_i=0\) should be replaced by \(f_i(0)=0\).