Adaptive backstepping control of uncertain systems with unknown input time-delay

Abstract: In this paper, we show that adaptive controllers designed using the standard backstepping technique proposed in Krstic [1995] globally stabilize a class of uncertain systems with unknown input time delay and unmodeled dynamics. As such systems belong to nonminimum phase systems and thus our result extends the class of systems stabilizable from minimum phase systems when the standard backstepping technique is employed. Moreover, it is shown that the transient system performance can be improved by adjusting the design parameters.