Adaptive Dynamic Surface Control with Guaranteed L-infinity Tracking Performance for a Class of Uncertain Nonlinear Systems with Unknown Time Delays

作者：Qu Weiran; Lin Yan^*; Zhao Qichao

来源：Asian Journal of Control, 2014, 16(2): 589-601.

DOI：10.1002/asjc.747

• transient performance
• nonlinear time delay systems
• backstepping control
• Dynamic surface control
• adaptive neural networks

This paper is aimed at exploring dynamic surface control (DSC) for a class of uncertain nonlinear systems in strict-feedback form with time delays. Combining the Finite Covering Lemma (Heine-Borel Theorem) with neural networks, a novel method is proposed to approximate time delay terms, which leads to the abandonment of traditional Lyapunov-Krasovskii functionals. Then, a surface error modification and an initialization technique are proposed to guarantee the Script capital L infinity tracking performance. Moreover, by applying a newly-developed neural network based adaptive control technique, it is shown that the update law for the proposed DSC scheme is needed only at the last design step with only one parameter being estimated online, which significantly reduces the computational burden, compared with current DSC schemes. Simulation results are presented to illustrate the efficiency of the proposed scheme.

• 出版日期2014-3
• 单位北京大学