Robust control for a class of uncertain nonlinear systems using adaptive filters

This paper investigates the problem of output tracking for a class of nonlinear uncertain systems in strict feedback form. By utilizing the nonlinear filters with a common compensator, a robust adaptive control scheme is proposed via dynamic surface approach. Compared with the existing results in the literature, the proposed control scheme not only avoids the issue of "explosion of complexity" in the recursive procedure, but also eliminates the effects raised by boundary layer errors. Finally, a numerical example is presented to verify the effectiveness of the proposed methodology.