^pof;
Electrical;
Engineering;
and;
Automation,;
Tianjin;
University,;
Tianjin;
300072,;
China;
^pof;
Automation,;
Shenyang;
Aerospace;
University,;
Shenyang;
110136,;
China;
Backstepping; 不确定非线性系统; 滑动模式控制; 自适应更新; 输入饱和; Lyapunov函数; 滑模控制; 适应能力;