Adaptive recursive sliding-mode dynamic surface and its event-triggered control of uncertain non-affine systems

An adaptive neural network control strategy and its event-triggered controller are designed for non-affine pure-feedback uncertain systems based on nonlinear gains and recursive sliding-mode dynamic surfaces. A kind of nonlinear gain functions is introduced into the traditional framework of dynamic surface control (DSC) with recursive sliding-mode to make a compromise between control accuracy and transient performance. Radial basis function (RBF) neural networks (NNs) are adopted to approximate unknown functions at each step, and novel adaptive update laws with leakage terms of sigma-modification is constructed. To reduce the action number of the actuator, an extended control strategy in an event-triggered manner is proposed. By the Lyapunov function, it is proven that both of the two control strategies can force the tracking error arbitrarily small and guarantee all the signals in the closed-loop system uniformly ultimately bounded. Finally, simulation results are provided to verify the effectiveness of the proposed control strategy. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.