Adaptive dynamic surface control design for uncertain nonlinear strict-feedback systems with unknown control direction and disturbances

Hui Ma; Hongjing Liang; Qi Zhou; Choon Ki Ahn

doi:10.1109/TSMC.2018.2855170

Adaptive dynamic surface control design for uncertain nonlinear strict-feedback systems with unknown control direction and disturbances

Hui Ma, Hongjing Liang, Qi Zhou, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

231 Citations (Scopus)

Abstract

This paper investigates the adaptive tracking control problem for a class of uncertain single-input and single-output strict-feedback nonlinear systems with unknown control direction and disturbances. Dynamic surface control is utilized to handle the problem of 'explosion of complexity' occurred in the conventional backstepping design. In order to escape analytic calculation, a first-order filter is used to generate the command signals and their derivatives. Moreover, Nussbaum function is employed to handle the problem of the unknown control coefficient. New controllers and adaptive laws are designed by combining the compensation tracking error and the prediction error that exist between the system state and the serial-parallel estimation model. It is proved that all the variables in the closed-loop system are bounded and the tracking error is driven to the origin with a small neighborhood. Finally, the simulation results are presented to verify the effectiveness of the proposed approach.

Original language	English
Article number	8419281
Pages (from-to)	506-515
Number of pages	10
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	49
Issue number	3
DOIs	https://doi.org/10.1109/TSMC.2018.2855170
Publication status	Published - 2019 Mar

Bibliographical note

Funding Information:
Manuscript received January 7, 2018; revised April 14, 2018; accepted June 28, 2018. Date of publication July 25, 2018; date of current version February 14, 2019. This work was supported in part by the National Natural Science Foundation of China under Grant 61673072 and Grant 61703051, in part by the Guangdong Natural Science Funds for Distinguished Young Scholar under Grant 2017A030306014, in part by the Department of Education of Guangdong Province under Grant 2016KTSCX030, in part by the Department of Education of Liaoning Province under Grant LZ2017001, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor W. He. (Corresponding authors: Hongjing Liang; Choon Ki Ahn.) H. Ma is with the School of Mathematics and Physics, Bohai University, Jinzhou 121013, China (e-mail: [email protected]).

Publisher Copyright:
© 2013 IEEE.

Keywords

Adaptive control
Nussbaum function
backstepping
dynamic surface control (DSC)

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMC.2018.2855170

Cite this

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title = "Adaptive dynamic surface control design for uncertain nonlinear strict-feedback systems with unknown control direction and disturbances",

abstract = "This paper investigates the adaptive tracking control problem for a class of uncertain single-input and single-output strict-feedback nonlinear systems with unknown control direction and disturbances. Dynamic surface control is utilized to handle the problem of 'explosion of complexity' occurred in the conventional backstepping design. In order to escape analytic calculation, a first-order filter is used to generate the command signals and their derivatives. Moreover, Nussbaum function is employed to handle the problem of the unknown control coefficient. New controllers and adaptive laws are designed by combining the compensation tracking error and the prediction error that exist between the system state and the serial-parallel estimation model. It is proved that all the variables in the closed-loop system are bounded and the tracking error is driven to the origin with a small neighborhood. Finally, the simulation results are presented to verify the effectiveness of the proposed approach.",

keywords = "Adaptive control, Nussbaum function, backstepping, dynamic surface control (DSC)",

author = "Hui Ma and Hongjing Liang and Qi Zhou and Ahn, {Choon Ki}",

note = "Funding Information: Manuscript received January 7, 2018; revised April 14, 2018; accepted June 28, 2018. Date of publication July 25, 2018; date of current version February 14, 2019. This work was supported in part by the National Natural Science Foundation of China under Grant 61673072 and Grant 61703051, in part by the Guangdong Natural Science Funds for Distinguished Young Scholar under Grant 2017A030306014, in part by the Department of Education of Guangdong Province under Grant 2016KTSCX030, in part by the Department of Education of Liaoning Province under Grant LZ2017001, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor W. He. (Corresponding authors: Hongjing Liang; Choon Ki Ahn.) H. Ma is with the School of Mathematics and Physics, Bohai University, Jinzhou 121013, China (e-mail: [email protected]). Publisher Copyright: {\textcopyright} 2013 IEEE.",

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N2 - This paper investigates the adaptive tracking control problem for a class of uncertain single-input and single-output strict-feedback nonlinear systems with unknown control direction and disturbances. Dynamic surface control is utilized to handle the problem of 'explosion of complexity' occurred in the conventional backstepping design. In order to escape analytic calculation, a first-order filter is used to generate the command signals and their derivatives. Moreover, Nussbaum function is employed to handle the problem of the unknown control coefficient. New controllers and adaptive laws are designed by combining the compensation tracking error and the prediction error that exist between the system state and the serial-parallel estimation model. It is proved that all the variables in the closed-loop system are bounded and the tracking error is driven to the origin with a small neighborhood. Finally, the simulation results are presented to verify the effectiveness of the proposed approach.

AB - This paper investigates the adaptive tracking control problem for a class of uncertain single-input and single-output strict-feedback nonlinear systems with unknown control direction and disturbances. Dynamic surface control is utilized to handle the problem of 'explosion of complexity' occurred in the conventional backstepping design. In order to escape analytic calculation, a first-order filter is used to generate the command signals and their derivatives. Moreover, Nussbaum function is employed to handle the problem of the unknown control coefficient. New controllers and adaptive laws are designed by combining the compensation tracking error and the prediction error that exist between the system state and the serial-parallel estimation model. It is proved that all the variables in the closed-loop system are bounded and the tracking error is driven to the origin with a small neighborhood. Finally, the simulation results are presented to verify the effectiveness of the proposed approach.

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Adaptive dynamic surface control design for uncertain nonlinear strict-feedback systems with unknown control direction and disturbances

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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