LAUSR

In this paper, an adaptive tracking control scheme is proposed for a class of uncertain systems with external disturbances existing in every state equation and output equation. The output disturbance considered here does not need to be generated by a known different equation. It leads to the system about coordinate changes variables 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 proposed robust adaptive control scheme. In addition, the effect caused by the disturbance in state equation can be compensated for by selecting appropriate design parameters in every step. It is shown that the proposed adaptive control scheme can ensure all signals in the closed-loop system bounded.