A robust adaptive dynamic surface control for linear systems

Abstract

In this article, a robust output-feedback adaptive dynamic surface control (DSC) is proposed for linear time-invariant single-input single-output plants with unmodelled dynamics and unmeasurable output disturbance. With the proposed adaptive DSC scheme, the ‘explosion of terms’ problem inherent in backstepping control is eliminated and the adaptive law is necessary only at the first design step, which significantly reduces the design procedure. More importantly, it is proved that with an initialisation technique, the ℒ_∞ performance of the tracking error can be guaranteed even with unmodelled dynamics, bounded output disturbance exists and the plant high-frequency gain is unknown.

Keywords:

• backstepping control
• dynamic surface control
• robust adaptive control
• linear systems
• tracking performance

Acknowledgements

This work was supported by NSF of China under Grant no. 60874044 and The Doctoral Foundation of Ministry of Education under Grant no. 20111102110006.