Multiple-model adaptive robust dynamic surface control with estimator resetting

A multiple-model adaptive robust dynamic surface control with estimator resetting is investigated for a class of semi-strict feedback nonlinear systems in this paper. The transient performance is mainly considered. The multiple models are composed of fixed models, one adaptive model, and one identification model that can be obtained when the persistent exciting condition is satisfied. The transient performance of the final tracking system can be improved significantly by designing proper switching mechanism during the parameter tuning procedure. The semi-globally uniformly ultimately bounded stability of the closed-loop system can be easily achieved because of the framework of adaptive robust dynamic surface control. Numerical examples are provided to demonstrate the effectiveness of the proposed multiple-model controller.