Robust adaptive dynamic surface control for a class of MIMO nonlinear systems with unknown non-symmetric dead-zone

Abstract

This paper is devoted to adaptive output tracking for a class of multi-input multi-output nonlinear systems with unknown non-symmetric dead-zone. With the aid of a matrix factorization and a similarity transformation, a robust adaptive dynamic surface control scheme is proposed and the difficulty caused by the control gain matrix and the dead-zone is circumvented. By introducing a surface error modification and an initialization technique, we show that the ∞ performance of the tracking errors can be guaranteed. Moreover, the proposed scheme contains only one updated parameter at each design step, which significantly reduces the computational burden. It is proven that all signals of the closed-loop system are semi-globally uniformly bounded. Simulation results on coupled inverted double pendulums are presented to illustrate the effectiveness of the proposed scheme. © 2013 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd.