Adaptive control of pure-feedback nonlinear systems with input unmodeled dynamics
ZHANG Tian-ping
GE Ji-wei
XIA Xiao-nan
Abstract：Based on dynamic surface control(DSC)method and using Nussbaum function property,two adaptive DSC schemes are developed for a class of pure-feedback nonlinear systems with state and input unmodeled dynamics as well as unknown control gain sign in this paper.Normalization signal is designed to restrict the input unmodeled dynamics, and the disturbance produced by it is effectively suppressed.Dynamic signal is introduced to deal with the dynamic uncertainty caused by unmodeled dynamics.By adding the normalization signal to the whole Lyapunov function and using the defined compact set in stability analysis,all the signals in the closed-loop system are proved to be semi-globally uniformly ultimately bounded(SGUUB).Numerical simulation verifies the effectiveness of the proposed approach.
Keywords：input unmodeled dynamicsdynamic surface controlintegral Lyapunov functionNussbaum function
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 1637-1647 )