Adaptive Tracking Control for Pure-feedback Nonlinear Systems with Semi-bounded Non-affine Functions and Dead-zone

An adaptive tracking control approach is presented for pure-feedback systems with semi-bounded non-affine functions and dead-zone. The strictive bounded conditions are relaxed by the semi-bounded for continuous non-affine function, and then an adaptive filter is investigated by employing the dynamic surface control technique and invariant set theory. Furthermore, the actual control scheme with dead-zone is considered based on backstepping structure to eventually guarantee the controllability, and then the robust compensator is designed to reduce the influence caused by uncertainties and disturbances. Moreover, the result shows that all the closed-loop signals are hounded and the tracking error can asymptotically converge to a residual set. Finally, a numerical simulation example is stated to demonstrate the feasibility of the proposed scheme.