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A modified dynamic surface approach for control of nonlinear systems with unknown input dead zone
Author(s) -
Sun Guofa,
Ren Xuemei,
Chen Qiang,
Li Dongwu
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3127
Subject(s) - differentiator , control theory (sociology) , initialization , nonlinear system , dead zone , state observer , computer science , filter (signal processing) , observer (physics) , robustness (evolution) , lyapunov function , control (management) , biochemistry , oceanography , physics , chemistry , quantum mechanics , artificial intelligence , computer vision , gene , programming language , geology
Summary This paper focuses on the robust output precise tracking control problem of uncertain nonlinear systems in pure‐feedback form with unknown input dead zone. By designing an extended state observer, the states unmeasurable problem in traditional feedback control is solved, and the lumped uncertainty, which is caused by system unknown functions and input dead zone, is estimated. In order to apply separation principle, finite‐time extended state observer is designed to obtain system states and estimate the lumped uncertainty. Then, by introducing tracking differentiator, a modified dynamic surface control approach is developed to eliminate the ‘explosion of complexity’ problem and guarantee the tracking performance of system output. Because tracking differentiator is a fast precise signal filter, the closed‐loop control performance is significantly improved when it is used in dynamic surface control instead of first‐order filters. The L ∞ stability of the whole closed‐loop system, which guarantees both the transient and steady‐state performance, is shown by the Lyapunov method and initialization technique. Numerical and experiment examples are performed to illustrate our proposed control scheme with satisfactory results. Copyright © 2013 John Wiley & Sons, Ltd.