High-order robust dynamic surface control for uncertain nonlinear systems based on fully actuated system approach

In this paper, a robust dynamic surface control method is designed for high-order strict feedback systems with nonlinear uncertainties. Based on the idea of dynamic surface control, a series of first-order low-pass filters are introduced to obtain the derivative of the virtual control law, and the c...

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Bibliographic Details
Published in2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA) pp. 728 - 733
Main Authors Xiao, Yongqiang, Cai, Guangbin, Hou, Mingzhe, Yan, Xunliang
Format Conference Proceeding
LanguageEnglish
Published IEEE 14.07.2023
Subjects
Computational modeling
Control systems
Dynamic surface control
Fully actuated system approach
Heuristic algorithms
High-order strict feedback system
Low-pass filters
Robust control
Simulation
Transforms
Uncertainty
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Summary:In this paper, a robust dynamic surface control method is designed for high-order strict feedback systems with nonlinear uncertainties. Based on the idea of dynamic surface control, a series of first-order low-pass filters are introduced to obtain the derivative of the virtual control law, and the controller is designed directly for each higher-order subsystem without converting it into the first-order one, hence is more concise and efficient. It is proved by the Lyapunov stability theory that the tracking error can converge to a small domain around zero. The effectiveness of the proposed algorithm is also verified by a simulation with the flexible joint robotic arm system.
DOI:10.1109/CFASTA57821.2023.10243294