ABSTRACT
Adaptive control is a design idea of self-tuning the control parameters based on the performance error related information to better fit the environment. To stabilize a system and achieve other objectives such as desired output tracking by using adaptive control methodology, a controller is normally constructed to involve adjustable parameters generated by a parameter estimator. Both the controller and parameter estimator are designed on the basis of the mathematical representation of the plant. In contrast to conventional adaptive control design methods, adaptive backstepping control can easily remove relative degree limitations and provide improved transient performance by tuning the design parameters. Although there are a large number of results developed in the area of adaptive backstepping control some interesting issues such as adaptive compensation for actuator failures, subsystem interactions and nonsmooth nonlinearities still have not been extensively explored.
