Adaptive dynamic surface control for uncertain nonaffine nonlinear systems

作者：Liu, Yong-Hua^*; Huang, Liangpei; Xiao, Dongming

来源：International Journal of Robust and Nonlinear Control, 2017, 27(4): 535-546.

DOI：10.1002/rnc.3583

• nonaffine systems
• nonlinear systems
• adaptive control
• dynamic surface control
• backstepping

This paper focuses on the problem of adaptive control for uncertain nonaffine nonlinear systems. The original nonaffine systems are transformed into the augmented affine systems via adding an auxiliary integrator, which makes the explicit control design possible. By introducing a modified sliding mode filter in each step, a novel adaptive dynamic surface controller is proposed, where the 'explosion of complexity' problem inherent in the backstepping design is avoided. It is proven rigorously that for any initial control condition, the proposed adaptive scheme is able to ensure the semiglobal uniformly ultimately boundedness of all signals in the closed loop. An illustrative example is carried out to verify the effectiveness of the proposed approach.

• 出版日期2017-3-10
• 单位湖南科技大学