Control performance-oriented output feedback dynamic surface control for a class of interconnected nonlinear systems
面向控制性能的一类非线性关联系统输出反馈动态面控制

An output feedback adaptive dynamic surface control(DSC) scheme is proposed for a class of MIMO nonlinear systems with completely unknown interconnections. In this scheme, the explosion of complexity problem inherent in traditional backstepping design is eliminated. The radial-basis-function(RBF) neural network(NN) is employed to approximate the uncertain interconnected items. The advantage is that there is only one parameter needed to be updated online for each subsystem. Moreover, performance function and output error transformation are introduced to guarantee the convergence rate of the tracking errors, the allowable maximum overshoot, and the steady-state error, etc. It is proved that all signals in the closed-loop system are semi-globally uniformly ultimately bounded. Simulation results show the effectiveness of the proposed scheme.