Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems (Q4955095)

The authors discuss nonlinear uncertain systems of the form \[ \begin{aligned} x_j &= x_{j+1}+ a_j f_j(x_1,\dots, x_j),\quad j= 1,\dots, n-1,\\ x_n &= u+ a_nf_n(x_1,\dots, x_n),\quad y= x_1,\end{aligned} \] where \(a_i\), \(i= 1,\dots, n\), are the unknown constant parameters and \(f_i: \mathbb{R}^i\to \mathbb{R}\) are \(C^1\)-functions with \(f_i(0,\dots, 0)= 0\). By extending the dynamic surface control technique due to \textit{D. Swaroop} et al. [Proceedings of the 1997 American Control Conference, Albuquerque, NM (1997)], the authors propose a new algorithm for adaptive backstepping control of the above system. Since one adds first-order low pass filters, this algorithm can be implemented without differentiating any model nonlinearities. Using a singular perturbation theorem in \textit{H. K. Khalil} [Nonlinear systems, New York, Macmillan (1992)], the combined adaptive backstepping first-order filter system is proven to be semi-globally stable for sufficiently fast filters. A detailed numerical example is also given.