An improved adaptive dynamic surface control for nonlinear systems in pure feedback form

作者：Lu Yao; Xu Lijuan; Zhang Tianping^*

来源：Journal of Southeast University(Natural Science Edition), 2010, 40(SUPPL. 1): 210-216.

• Adaptive Control
• Adaptive dynamic surface controls
• Adjustable parameters
• Approximation capabilities
• Backstepping design
• Dynamic surface control
• Feedback forms
• First-order filters
• Lyapunov
• Nonlinear functions
• Pure-feedback system
• Semi-globally uniformly ultimately bounded
• System functions
• Tracking errors
• Virtual control

The problem of adaptive control is studied for a class of nonlinear systems in pure feedback form with unknown system functions and uncertain disturbances. By introducing dynamic surface control technique, incorporating the approximation capability of neural networks, and using the integral-type Lyapunov function, an improved adaptive dynamic surface control is developed for the above systems. By introducing the first-order filter into each step of the traditional backstepping design, the explosion of complexity caused by the repeated differentiations of certain nonlinear functions such as virtual controls is avoided. Compared with the existing research, the proposed approach relaxes the restriction of the system and reduces the number of adjustable parameters effectively, and does not require the derivative of the virtual control coefficients. By theoretical analysis, the closed-loop control system is shown to be semi-globally uniformly ultimately bounded, with the tracking error converging to a small neighborhood of the origin.

• 出版日期2010