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对一大类含有未知参数的多输入非线性串级系统 ,基于 backstepping递推设计方法 ,进行了自适应控制设计。当自适应控制律作用于该系统时 ,闭环系统的所有信号是有界的 ,并且原系统的状态收敛于零
For a large class of multi-input nonlinear cascaded systems with unknown parameters, an adaptive control design based on backstepping recursive design method is presented. When the adaptive control law acts on the system, all the signals of the closed-loop system are bounded, and the state of the original system converges to zero