Simplified adaptive backstepping control for uncertain nonlinear systems with unknown input saturation and its application

The calculation complex problem is one of the significant obstacles in the real-time implementation of traditional backstepping controllers. In this paper, we consider the simplification problem of the adaptive backstepping tracking controller for uncertain nonlinear systems with unknown input saturation. Compared with traditional backstepping controllers, virtual stabilizing functions and their derivatives are needless in our controller, which effectively reduces the computation burden. And then the one-order compensation subsystem is employed to eliminate the effect of nonlinear uncertainties based on the adaptive control scheme and the congelation of variables technique. Next, the performance of the closed-loop nonlinear system is analyzed based on the Lyapunov stability theorem. In the final, simulation and experimental results are given to show the effectiveness of our controller.