Abstract:

The adaptive dynamic surface control is proposed for a class of uncertain nonlinear strict-feedback systems proceeded by unknown input dead-zone. Unlike the low-order filters used in CSCD, the nonlinear filters with time-varying integral function are utilized to cope with the virtual controls. The proposed control method not only overcomes the “explosion of terms” and reduces the computational complexity, but also simplify the structure of the controller. Furthermore, it compensates the boundary layer error inherent in the dynamic surface procedure. Theoretical analysis proves that the proposed control scheme can eliminate the influence of dead zone nonlinearity and ensure the stability of the closed-loop system. Taking the simulation of a single-arm manipulator as an example, the transient performance can be improved by the tuning of design parameters, and the asymptotic convergence of the tracking error can be achieved, which verifies the effectiveness of the proposed method.

Key words: nonlinear systems, dynamic surface control, adaptive control, nonlinear filters, dead-zone input, asymptotic tracking