Tracking control of biomathematical model of muscular blood vessel

The tracking control problem of muscular vessel systems with dynamic uncertainties and unknown parameters is studied. The unknown system parameters are adaptively identified, and the exogenous disturbance is attenuated by Nussbaum-type functions based on the backstepping methods. The derived adaptive robust controller guarantees that the closed-loop system is globally and uniformly bounded, and the tracking error is convergent to a small neighborhood of zero. In addition, the desired performance can be achieved by an appropriate choice of design parameters of the controller, and the singular problem can be avoided. Simulation results demonstrate that the developed adaptive nonlinear tracking controller can always drive the abnormal muscular vessel into normal orbit with the good robustness and adaptability.