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This study proposes an adaptive subsystem-based control (SBC) for systematicand straightforward nonlinear~control of nth-order strict-feedback form (SFF)systems.~By decomposing the SFF system to subsystems, a generic~term (namelystability connector) can be created to address dynamic interactions between thesubsystems. This 1) enables modular control design with global asymptoticstability, 2) such that both the control design and the stability analysis canbe performed locally at a subsystem level, 3) while avoiding an excessivegrowth of the control design complexity when the system order n increases. Thelatter property makes the method suitable especially for high-dimensionalsystems. We also design a smooth projection function for addressing systemparametric uncertainties. Numerical simulations demonstrate the efficiency ofthe method.

Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems