Parametric Adaptive Dynamic Surface Control for Triangular Structural Nonlinear Systems with Prescribed Performance

In this paper, a parametric adaptive backstepping recursive design method is presented for a class of triangular structural nonlinear systems. The existing results in backstepping recursive design have a remarkable feature that the approximator is adopted to deal with the unknown function, which produces the approximation error. A parametric adaptive control law is designed to overcome this problem. The dynamic surface control technique is applied to reduce computational complexity, and the proposed method can guarantee the tracking error remains in a small neighborhood related to the prescribed performance bound. Eventually, a simulation example is provided to verify the effectiveness of the proposed parametric adaptive backstepping recursive design method.