LAUSR

This article addresses the problem of transient performance improvement in adaptive backstepping design. A new modular design with a high-order tuner providing complete compensation of the adjustable parameters’ time variations is proposed. The ${\mathcal L}_\infty$ performance bound for the state error is derived and verifies a better transient performance of the proposed controller compared to the known ones designed based on tuning functions and modular approach with first-order tuners.