ABSTRACT
This chapter gives standard procedures to design adaptive backstepping controllers, with tuning function and modular design schemes, respectively. In the corresponding analysis parts, system stability and tracking performance are investigated. Backstepping technique is a powerful tool to stabilize nonlinear systems with relaxed matching conditions. This chapter introduces the concepts of integrator backstepping and adaptive backstepping control. The procedures to design adaptive controllers by incorporating the tuning functions and modular design schemes are then presented. A class of parametric strict-feedback nonlinear systems is considered and stability analysis for the two schemes are also provided briefly. The dynamic order of the adaptive controller exceeds the number of unknown parameters. Such a problem is known as over- parametrization. It can be solved by adopting the tuning functions design scheme, in which a tuning function is determined recursively at each step.
