Low-Complexity Adaptive Control for Unknown Pure Feedback Nonlinear Systems

摘要

In this work, an adaptive control technique is proposed for a category of unknown pure feedback nonlinear systems by using back-stepping technique. To guarantee the low-complexity of controller, a novel back-stepping control scheme is developed to solve the problems of unknown nonlinearities and “explosion of complexity” by integrating the mean value theorem and supremum norm theory with first-order sliding-mode differentiator, which can guarantee that the number of adjustable parameters is only one and the design is an approximation-free control scheme. The developed adaptive controller guarantees that all signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. Finally, Simulation results further demonstrate the validity of the proposed control scheme.