Automatica, Vol.37, No.4, 551-558, 2001
Robust adaptive control of nonlinear discrete-time systems by backstepping without overparameterization
This paper presents a robust backstepping adaptive controller to overcome the overparameterization problem in adaptive control of nonlinear discrete-time systems. It is shown that the proposed controller can guarantee the global boundedness of the states of the whole adaptive system in the presence of time-varying parametric and nonparametric uncertainties. It can also ensure that the tracking error falls within a compact set whose size is proportional to the magnitude of the uncertainties and disturbances.
Keywords:discrete-time system;time-varying system;adaptive control;nonlinear controller;parameter projection;backstepping