The robust adaptive backstepping design and its applications to nonlinear ship steering control are systemically studieded in this paper . backstepping design is a new recursive nonlinear control methodology which associated with lyapunov stabilities theory 本文对反向递推( backstepping )设计方法及鲁棒自适应反向递推设计方法在非线性船舶航向控制器中的应用进行了研究。
For a kind of dynamic uncertain systems , basing on backstepping scheme and combining variable structure and nonlinear damping approach , this paper sufficiently considers unmodeled dynamics and disturbances in the input - output channel 本文针对一类动态不确定系统，基于backstepping设计策略，结合变结构控制与非线性damping方法，充分考虑了系统的未建模动态与输入输出通道有干扰的情况
This paper proposes a novel tracking control approach for nonholonomic mobile robots by integrating the neural dynamics model into the backstepping technique , and an adaptive parameter model is utilized to implement robust tracking 摘要提出了一种针对非完整移动机器人轨迹跟踪控制的新方法；该方法将神经动力学生物激励模型集成到后退控制方法中，同时采用自适应参数模型来实现具有鲁棒性的跟踪控制。
By utilizing the approximation capability of fuzzy systems , backstepping technique and integral - type lyapunov function , each virtual control and the adaptation law of the adjustable parameters in the fuzzy systems are determined in turn . in the end , the control law is determined 利用模糊系统的逼近能力，后推设计方法及积分型李亚普诺夫函数，依次确定各虚拟控制及模糊系统中的可调参数的自适应律，并最终确定出控制律。
In this dissertation , a kind of linear time invariant systems with unmodeled dynamics and nonlinear uncertainties are considered by using backstepping approach and variable structure control algorithm . also another kind of linear time varying systems are studied based on the same method 本文主要利用backstepping方法与变结构控制方法，研究了有未建模动态及不确定非线性项的线性时不变系统，以及输入通道带有干扰的线性时变系统的控制器设计问题
Further the backstepping technique is adopted to construct fuzzy robust reconfigurable control scheme for a class of uncertain nonlinear system , which is an integration of fuzzy - mode - based controller and fuzzy adaptive controller . fuzzy adaptive controller in this scheme is used to cancel the effect caused by the modeling error , disturbance , and unknown actuator failures 进一步，文中针对一类具有不确定性的非线性系统，通过backstepping技术将基于t ? s模糊模型的模糊增益控制器与自适应模糊控制器相结合，提出了一种模糊鲁棒重构控制方法，通过模糊自适应控制器的作用，可以自动补偿于系统的建模误差、不确定因素及执行机构故障等造成的影响。
Using the cogent validity of backstepping " s solving parametric - strict - feedback nonlinear systems , xinghuo yu and wu yuqiang ( 1998 ) solved the output - tracking problem of a kind of linear time varying system by combining nonlinear damping method and variable structure scheme . in this dissertation , we sufficiently consider the effect of disturbances in the input channel basing on the same model Xinghuoyu和yuqiangwu （ 1998 ）针对一类线性时变系统的输出跟踪问题，基于back飞tepping设计机制，将带有非线性dallpipg项的设计方法与变结构控制方法相结合，给出了一种新的非线性控制器设计方法
This dissertation mainly studies the robust adaptive control problem for nonlinear uncertain systems . the main topics are : ( 1 ) a backstepping design procedure is proposed for a class of siso cascaded nonlinear systems with dynamics uncertainties and zero dynamics . a robust adaptive control law is proposed 本文对非线性不确定系统的鲁棒自适应控制问题作了较深入地研究和探索，主要的研究内容包括： ( 1 )基于lyapunov函数backstepping法(回馈递推)研究了一类具有动态不确定和零动态siso串联非线性系统的鲁棒自适应控制问题。
By the simulation results , it is verified to have excellent performance . a class of uncertain nonlinear systems which can be transformed into strict feedback nonlinear systems is investigated based on feedback linearization approach of differential geometry . an adaptive robust controller with l2 - gain is proposed by using backstepping technique . the numerical method is given and it is proved to be practical by simulation results . lt is a more practical method to solve hji for a special nonlinear system because the problem to solve hji is very difficult in general case , and only get the approximate solution when it can be solved . an effective method to solve hji is presented for a class of nonlinear system which is ordinary 考虑到一般情况下，求解hji是非常困难的，并且也只能得到近似解，因此，在系统设计时，针对具体非线性系统的特殊结构以求解hfl是系统设计的一种行之有效的方法，基于以上考虑，对一类具有广泛工程背景的非线性系统，提出了一种求解hfl的有效方法，便于实际应用。最后，从波能谱的角度，研究随机海浪的仿真问题，给出了船舶横摇仿真中需要的随机海浪有效波倾角的仿真方法。
Then it concludes its advantages and disadvantages by comparison backstepping and absolute feedback linearization methods . now two problems listed below are difficult to solve in ship steering controller designs : 1 ) nonlinear maneuvering characteristics in ship steering control ; 2 ) uncertainty in nonlinear ship responded model . in this paper , it will show how backsteeping can be applied to solve these problems successfully 本文对backstepping设计方法与精确反馈线性化方法进行了系统的比较研究，通过系统仿真得出backstepping设计方法克服了精确反馈线性化方法需要精确的数学模型的缺点，同时backstepping不全消非线性项，从而减少了控制器的能量消耗。
