Adaptive dynamic surface tracking control for uncertain full-state constrained nonlinear systems with disturbance compensation

• Published in: Journal of the Franklin Institute Vol. 359; no. 6; pp. 2424 - 2444
• Main Authors: Yang, Xiaowei, Ge, Yaowen, Deng, Wenxiang, Yao, Jianyong
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.04.2022; Elsevier Science Ltd
• Subjects: Adaptive control; Asymptotic methods; Asymptotic properties; Controllers; Disturbances; Dynamical systems; Liapunov functions; Nonlinear filters; Nonlinear systems; Parameter optimization; Tracking control; Tracking control systems; Uncertainty
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2022.02.008

In this paper, an asymptotic adaptive dynamic surface tracking control strategy is investigated for uncertain full-state constrained nonlinear systems subject to parametric uncertainties and external disturbances. A novel disturbance estimator (DE) is firstly used to compensate for external disturbances. The parametric uncertainties are accordingly handled via a synthesized adaptive law. Then, by using the barrier Lyapunov function (BLF) and dynamic surface control (DSC), an appropriate backstepping design framework employing a novel adaptive-gain nonlinear filter is given, which avoids the “explosion of complexity” and relieves the conservatism of filter gain selection. The theoretical analysis reveals the asymptotic tracking performance is assured with the proposed controller. In the end, some simulation cases demonstrate the validity of the proposed controller.