Symbolic dynamical adaptive backstepping control design via MATLAB

Abstract

The development of a symbolic toolbox which implements a systematic algorithm for designing robust dynamical adaptive backstepping tracking controllers for a class of uncertain nonlinear systems is considered. The algorithm is based on a combination of adaptive input-output linearization without transformation to canonical forms, and sliding mode control which exploits the recursive mechanism of adaptive backstepping with tuning functions. The MATLAB Symbolic Toolbox has been used for the implementation of this tool.