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Adaptive robust dynamic surface control with composite adaptation laws
Author(s) -
Chen Jie,
Li Zhiping,
Zhang Guozhu,
Gan Minggang
Publication year - 2010
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.1179
Subject(s) - backstepping , control theory (sociology) , adaptive control , nonlinear system , controller (irrigation) , robust control , surface (topology) , composite number , adaptation (eye) , law , computer science , class (philosophy) , robustness (evolution) , control (management) , simple (philosophy) , control engineering , engineering , mathematics , artificial intelligence , algorithm , physics , optics , geometry , chemistry , biology , biochemistry , quantum mechanics , political science , agronomy , gene , philosophy , epistemology
This paper focuses on an adaptive robust dynamic surface control (ARDSC) with composite adaptation laws (CAL) for a class of uncertain nonlinear systems in semi‐strict feedback form. A simple and effective controller has been obtained by introducing dynamic surface control (DSC) technique and designing novel adaptation laws. First, the ‘explosion of terms’ problem caused by backstepping method in the traditional adaptive robust control (ARC) is avoided. Meanwhile, through a new proof philosophy the asymptotical output tracking that the ARC possesses is theoretically preserved. Second, when persistent excitation (PE) condition satisfies, true parameter estimates could be acquired via designing CALs which integrate the information of estimation errors. Finally, simulation results are presented to illustrate the effectiveness of the proposed method. Copyright © 2010 John Wiley & Sons, Ltd.