Improved Adaptive Dynamic Surface Control For A Class Of Uncertain Nonlinear Systems

An improved dynamic surface control (IDSC) approach is presented for a class of strict-feedback nonlinear systems with unknown functions. The proposed method makes the state errors get rid of the influence of first-order filters, which simplifies the design of control. By employing neural networks to account for system uncertainties, the virtual control signal of the IDSC is directly used to construct the state error instead of the signal generated by the first-order filter in the dynamic surface control (DSC) method. The stability of the method is proved by Lyapunov stability theory, and the semi-global uniform ultimate boundedness of all signals in the closed-loop system is guaranteed. Simulation results demonstrate the IDSC method has better tracking performance and stability than traditional DSC method.