Adaptive control for a class of uncertain nonlinear pure-feedback systems based on the DSC technique

An adaptive control problem is studied for pure-feedback nonlinear systems with input saturation in this paper. Combining dynamic surface control based back-stepping technique with fuzzy approximation, the recursive controller design procedure is given for pure-feedback nonlinear systems. The problems of repeated differentiation of the virtual controller are avoided in the control presented scheme. It's proved that the ultimately bounded convergence of all the variables in the closed-loop system is guaranteed via stability analysis, and the tracking error can be made arbitrary small by adjusting the design parameters. Simulation results are shown to verify the effectiveness of the given approach.