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

摘要

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.