Tracking Control Strategy Using Filter-Based Approximation for the Unknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems

Yun Ho Choi and Sung Jin Yoo
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Yun Ho Choi: School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea
Sung Jin Yoo: School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea

Mathematics, 2020, vol. 8, issue 8, 1-17

Abstract: A filter-based recursive tracker design approach is presented for the problem of unknown control directions of pure-feedback systems with completely unknown non-affine nonlinearities. In the controller design procedure, the first-order filters for error surfaces, a control input, and state variables are employed to design nonadaptive virtual and actual control laws independent of adaptive function approximators. In addition, for the unknown control direction problem, the filtering signals are incorporated with Nussbaum functions. Different from existing adaptive approximation-based control schemes in the presence of unknown control directions, the proposed approach does not require any adaptive technique regardless of completely unknown nonlinear functions. Therefore, a simplified tracking structure can be constructed. Using the Lyapunov stability analysis, it is shown that the tracking error is reduced within an adjustable neighborhood of the origin while ensuring all the closed-loop signals are bounded.

Keywords: filter-based tracking control; unknown control directions; unknown non-affine nonlinearities (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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