Adaptive Control for a Class of Pure-Feedback Nonlinear Systems via Improved Dynamic Surface Control Technique

摘要

A novel adaptive neural tracking control scheme is proposed for a class of uncertain pure-feedback nonlinear system with non-affine functions possibly being in-differentiable. In this paper, an improved dynamic surface control (IDSC) method is presented by virtue of the first order sliding mode differentiator. Furthermore, by using the piecewise functions to model the non-affine functions appropriately, the design difficulty for pure-feedback system is overcome without any differentiable conditions. It is proved that all the signals in the closed-loop control system are global uniformly ultimately bounded (GUUB) since the limits for system initial conditions are removed by using the IDSC method. Finally, the simulation results are provided to demonstrate the effectiveness of the designed method.