Page 244 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

244 Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

Figure 15.4 Control inputs of y =−0.2cos(3πt) + 0.2. (A) Control inputs of three
d
methods; (B) The saturated control υ(t) and the practical control u(t) in S2.

input saturation. The non-affine pure-feedback system is first transformed
into a canonical form, which is suitable for control design, and the non-
smooth saturation is approximated by smooth function. Then an HOSM is
used to estimate the unknown system state, and an NN is employed to cope
with the lumped unknown non-linearities. By combining the dynamic sur-
face control and the integral sliding mode technique, a feedback controller
is designed to achieve output tracking. Comparative simulations are given
to illustrate the effectiveness of the proposed method.