Adaptive dynamic surface control for uncertain nonaffine nonlinear systems |
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| Authors: | Yong‐Hua Liu Liangpei Huang Dongming Xiao |
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| Affiliation: | Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiangtan, China |
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| Abstract: | 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. |
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| Keywords: | nonaffine systems nonlinear systems adaptive control dynamic surface control backstepping |
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