Abstract
This paper presents a new approximation-based control approach for uncertain nonlinear pure-feedback systems. The main idea of this paper is to estimate unknown continuous nonlinear functions through a linear combination of first-order filtered signals of state variables and a control input in the nonadaptive control framework, instead of using conventional adaptive neural or fuzzy function approximators. Based on the proposed filter-driven approximation technique, we first present a state-feedback control scheme for pure-feedback systems with unknown nonaffine nonlinearities and a dead-zone input. Then, a filter-driven-approximation-based output-feedback control scheme is proposed via a system transformation and an observer to estimate unmeasurable state variables. Based on the Lyapunov stability theorem, the control errors and the filter-driven approximation errors are considered to prove that the controlled closed-loop system is semi-globally uniformly ultimately bounded. Finally, simulation results are provided to show that the proposed filter-driven-approximation-based controller and the existing function-approximation-based adaptive controllers have similar control performance for nonlinear pure-feedback systems.
Published Version
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