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Adaptive Dynamic Surface Control Design with Asymptotic Tracking Performance for a Class of Uncertain Input-Delayed Systems

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Abstract

In this paper, an adaptive tracking control problem is addressed for a class of uncertain nonlinear systems with input delay and perturbations. To design the desired adaptive controller, Pade approximation approach is introduced to handle the problem from the input delay. In addition, to avoid the problem from “explosion of complexity” existing in the conventional backstepping design, a dynamic surface control method is presented by employing a nonlinear filter. Then, a new adaptive controller with a simple structure is established. Under the proposed controller, all the closed-loop signals remain semiglobally bounded, and especially the system output can follow the given reference signal asymptotically. Some simulations are given to verify the effectiveness of the proposed control scheme.

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Acknowledgements

This work is supported by National NaturalScience Foundation of China (61603003, 61703117, 61673014, 61673308, 61673339, 61702012, 60973050), the Natural Science Foundation of Anhui Province (1608085 QF131, 1908085MA01), the China Postdoctoral Science Foundation (2017M620245), the Anhui Province Department of Education University Scientific Research Fund (KJ2018A0359,KJ2019 A0570), the Foundation of the University Research and Innovation Platform Team for Intelligent Perception and Computing of Anhui Province, the Program for Academic Top-Notch Talents of University Disciplines (gxbjZD21), and the Program for Innovative Research Team in Anqing Normal University.

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Authors and Affiliations

  1. College of Mathematics and Big Data, Anhui University of Science and Technology, Huainan, China

    Yongbo Sun & Qianjin Zhao

  2. State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines, Anhui University of Science and Technology, Huainan, China

    Yongbo Sun & Qianjin Zhao

  3. The University Key Laboratory of Intelligent Perception and Computing of Anhui Province, Anqing Normal University, Anqing, China

    Chunsheng Zhang & Jian Wu

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  1. Yongbo Sun
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Correspondence to Jian Wu.

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Sun, Y., Zhao, Q., Zhang, C. et al. Adaptive Dynamic Surface Control Design with Asymptotic Tracking Performance for a Class of Uncertain Input-Delayed Systems. Circuits Syst Signal Process 39, 3512–3531 (2020). https://doi.org/10.1007/s00034-019-01335-3

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