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A Study on the Design of Adaptive Nonlinear Controller using Backstepping Technique

In this paper, we present a robust adaptive backstepping output feedback controller for nonlinear systems perturbed by unmodelled dynamics and disturbances. Especially, backstepping technique with modular approach is used to separately design controller and identifier. The design of identifier is based on the observer-based scheme which possesses a strict passivity property of observer error system. We will use Switching-${\sigma}$ modification at the update law and the modified control law to attenuate the effects of undodelled dynamics and disturbances for nonlinear systems.