Adaptive dynamic surface control for a class of strict-feedback nonlinear systems with unknown backlash-like hysteresis

Beibei Ren, Phyo Phyo San, Shuzhi Sam Ge, Tong Heng Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

41 Scopus citations

Abstract

In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties are compensated for using neural networks due to their universal approximation capabilities. Through Lyapunov synthesis, the closedloop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB), and the tracking error converges to a small neighborhood of zero. Simulation results are provided to illustrate the performance of the proposed approach.

Original languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages4482-4487
Number of pages6
DOIs
StatePublished - 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period06/10/0906/12/09

Keywords

  • Dynamic surface control (DSC)
  • Hysteresis
  • Neural networks(NNs)

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    Ren, B., San, P. P., Ge, S. S., & Lee, T. H. (2009). Adaptive dynamic surface control for a class of strict-feedback nonlinear systems with unknown backlash-like hysteresis. In 2009 American Control Conference, ACC 2009 (pp. 4482-4487). [5160295] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160295