Differential flatness adaptive backstepping output feedback control for a class of nonlinear systems
一类非线性系统的微分平滑反步自适应输出反馈控制

A novel adaptive backstepping output feedback control approach is presented for a class of strict-feedback nonlinear systems with uncertain parameters and unknown disturbances.In order to realize the output feedback control,the virtual full-dimensions state observer is introduced in the design.Given the fact that the virtual controllers in backstepping procedure are the functions of the parameter estimates and their higher derivatives,the differential flatness algorithm is used to expand the dynamics of original systems.In the stability analysis,based on the Lyapunov theory,some conditions are derived for global uniform ultimate boundedness of systems,while the stable tracking error is provided.Finally,the simulation example is given to demonstrate the feasibility and effectiveness of the proposed method.