adaptive dynamic surface control for nonlinear systems with unknown dead zone in pure feedback form英文文献资料.pdfVIP

Automatica 44 (2008) 1895–1903 /locate/automatica Brief paper Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form T.P. Zhang a,b , S.S. Geb,∗ a Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225009, PR China b Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore Received 8 September 2006; received in revised form 24 July 2007; accepted 10 November 2007 Available online 25 March 2008 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. c 2008 Elsevier Ltd. All rights reserved. Keywords: Adaptive control; Neural networks; Dynamic surface control; Pure-feedback nonlinear systems; Dead zone 1. Introduction