Simple Adaptive Asymptotic Tracking Scheme for Parametric Strict-Feedback Nonlinear Systems with Additive Disturbance

<table>Control input <svg height="7.9499998" id="M131" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 9.2749996 7.9499998" width="9.2749996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M515 96q-37 -44 -84.5 -76t-71.5 -32q-12 0 -18 7t-6 34t10 75l19 89h-2q-87 -113 -181 -176q-43 -29 -83 -29q-46 0 -46 63q0 31 9 67l52 222q7 36 -1 36q-10 0 -76 -50l-13 24q47 45 92 71.5t67 26.5q18 0 21 -16.5t-8 -65.5l-56 -242q-16 -67 13 -67q41 0 114 74
t114 146l32 145l74 26h11q-52 -199 -80 -347q-8 -39 6 -39q7 0 32 17.5t47 39.5z" id="x1D462"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Simple Adaptive Asymptotic Tracking Scheme for Parametric Strict-Feedback Nonlinear Systems with Additive Disturbance 