Adaptive dynamic surface asymptotic tracking for a class of uncertain nonlinear systems

Summary This paper contributes to dynamic surface asymptotic tracking for a class of uncertain nonlinear systems in strict‐feedback form. By utilizing the nonlinear filters with a positive time‐varying integral function, an adaptive state feedback controller is explicitly designed via a dynamic surf...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 28; no. 4; pp. 1233 - 1245
Main Author Liu, Yong‐Hua
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 10.03.2018
Subjects
adaptive control
Adaptive filters
Adaptive systems
Asymptotic methods
Asymptotic properties
asymptotic tracking
Boundary layer
Control systems design
Controllers
dynamic surface control
Feedback control
Nonlinear filters
Nonlinear systems
State feedback
Tracking
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Summary:Summary This paper contributes to dynamic surface asymptotic tracking for a class of uncertain nonlinear systems in strict‐feedback form. By utilizing the nonlinear filters with a positive time‐varying integral function, an adaptive state feedback controller is explicitly designed via a dynamic surface approach, where the compensating term with the estimate of an unknown bound is introduced to eliminate the effect raised by the boundary layer error at each step. Compared with the existing results in the literature, the proposed control scheme not only avoids the issue of “explosion of complexity” inherent in the backstepping procedure but also holds the asymptotic output tracking. Finally, simulation results are presented to verify the effectiveness of the proposed methodology.
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.3947