Robust Dynamic Surface Control for High-Order Strict-Feedback Systems With Output Constraints Based on Fully Actuated...

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• High-order strict-feedback systems (SFSs) often face challenges with asymmetric output constraints and external disturbances.
• Existing control methods may struggle to simultaneously address these issues while maintaining system stability.

Purpose of the Study:

• To develop a high-order robust dynamic surface control (DSC) method for SFSs with asymmetric output constraints and external disturbances.
• To simplify control design by utilizing a fully actuated system approach, avoiding transformation to a first-order system.

Main Methods:

• A nonlinear transformation function is introduced to convert output constraints into a bounded problem.
• A robust dynamic surface control strategy is designed based on the fully actuated system framework.
• Stability analysis is performed to verify the boundedness of all closed-loop signals.

Main Results:

• The proposed method ensures all closed-loop signals are uniformly ultimately bounded.
• The system output successfully tracks the reference signal without violating prescribed asymmetric output constraints.
• Numerical simulations demonstrate the effectiveness on robotic manipulator and electromechanical systems.

Conclusions:

• The developed high-order robust DSC method effectively handles asymmetric output constraints and disturbances in SFSs.
• The approach simplifies control design and guarantees system stability and accurate tracking performance.
• Validated through simulations, the method shows significant promise for practical applications in robotics and mechatronics.