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Adaptive dynamic surface control for uncertain nonaffine nonlinear systems
Author(s) -
Liu YongHua,
Huang Liangpei,
Xiao Dongming
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3583
Subject(s) - backstepping , control theory (sociology) , integrator , nonlinear system , computer science , controller (irrigation) , sliding mode control , strict feedback form , scheme (mathematics) , adaptive control , filter (signal processing) , affine transformation , control (management) , control engineering , mathematics , engineering , artificial intelligence , computer network , mathematical analysis , physics , bandwidth (computing) , quantum mechanics , pure mathematics , agronomy , computer vision , biology
Summary 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. Copyright © 2016 John Wiley & Sons, Ltd.