Abstract
In this article, we propose a one-step control design approach for pure-feedback nonlinear systems in the presence of unmatched and nonvanishing external disturbances. Different from the commonly utilized backstepping design, the proposed method, integrated with the dynamic surface control (DSC) technique, only involves one-step design with one single Lyapunov function in the whole control synthesis, which derives the actual control and the intermediate controls simultaneously in a collective way, avoiding the repetitive design procedures and multiple Lyapunov functions, yet circumventing the issue of 'explosion of complexity.' Furthermore, with this method, the increase in system order does not increase the design and analysis complexity. Numerical simulation examples confirm and validate the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Article number | 8891772 |
| Pages (from-to) | 3389-3399 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Neural Networks and Learning Systems |
| Volume | 31 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - Sept 2020 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2012 IEEE.
Funding
This work was supported in part by the Graduate Scientific Research and Innovation Foundation of Chongqing under Grant CYB19057 and Grant CYB19056 and in part by the National Natural Science Foundation of China under Grant 61860206008, Grant 61803053, and Grant 61833013.
Keywords
- Dynamic surface control (DSC)
- neuroadaptive control
- one-step design
- pure-feedback systems