ROBUST ADAPTIVE OUTPUT-FEEDBACK DYNAMIC SURFACE CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITH TIME-VARYING PARAMETERS

Mojgan Elmi,∗ Heidar A. Talebi,∗ and Mohammad B. Menhaj∗

Keywords

Dynamic surface control, parameter estimation, nonlinear time-varying systems, adaptive control, output-feedback

Abstract

In this paper, the problem of robust adaptive output-feedback control for a class of minimum phase nonlinear systems with unknown time- varying parameters and disturbance is considered. For this purpose, a controller based on dynamic surface control (DSC) is proposed where an adaptive scheme is presented to provide estimations of unknown time-varying parameters. Using an adaptive dynamic surface control technique, the design procedure is simple and the control law is easy to implement. It is proved that using the proposed scheme, all closed-loop signals are uniformly ultimately bounded (UUB). Finally, simulation results on a single-link manipulator are demonstrated to validate the proposed methodology.

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