Brief paper: Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form

Authors:
T. P. Zhang;S. S. Ge
Affiliations:
Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225009, PR China and Department of Electrical and Computer Engineering, National University of Singapore ...;Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

In this paper, adaptive dynamic surface control (DSC) is developed for a class of pure-feedback nonlinear systems with unknown dead zone and perturbed uncertainties using neural networks. The explosion of complexity in traditional backstepping design is avoided by utilizing dynamic surface control and introducing integral-type Lyapunov function. It is proved that the proposed design method is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system, with arbitrary small tracking error by appropriately choosing design constants. Simulation results demonstrate the effectiveness of the proposed approach.