A DSC method for strict-feedback nonlinear systems with possibly unbounded control gain functions

Journal article (2018)

Authors

Maolong Lv Air Force Engineering University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Ying Wang Air Force Engineering University
S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Zongcheng Liu Air Force Engineering University
Zutong Wang National Defence University
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 Maolong Lv, Ying Wang, S. Baldi, Zongcheng Liu, Zutong Wang
DOI: https://doi.org/10.1016/j.neucom.2017.09.082
Robust control Adaptive neural control Dynamic surface control Invariant set theory
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Published Date

2018

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

In dynamic surface control (DSC) methods, the control gain functions of systems are always assumed to be bounded, which is a restrictive assumption. This work proposes a novel DSC approach for an extended class of strict-feedback nonlinear systems whose control gain functions are continuous and possibly unbounded. Appropriate compact sets are constructed in such a way that the trajectories of the closed-loop system do not leave these sets, therefore, in these sets, maximums and minimums values of the continuous control gain functions are well defined even if the control gain functions are possibly unbounded. By using Lyapunov theory and invariant set theory, semi-globally uniformly ultimately boundedness is analytically proved: all the signals of closed-loop system will always stay in these compact sets, while the tracking error is shown to converge to a residual set that can be made as small as desired by adjusting design parameters appropriately. Finally, the effectiveness of the designed method is demonstrated via two examples.