期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 27, 期 4, 页码 535-546出版社
WILEY
DOI: 10.1002/rnc.3583
关键词
nonaffine systems; nonlinear systems; adaptive control; dynamic surface control; backstepping
资金
- National Natural Science Foundation of China [U1433118]
- Scientific Research Foundation of Hunan Provincial Education Department [15C0549]
- Scientific Research Foundation for Doctors, Hunan University of Science and Technology [E51515]
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 (C) 2016 John Wiley & Sons, Ltd.
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