A modified dynamic surface approach for control of nonlinear systems with unknown input dead zone

Guofa Sun, Xuemei Ren*, Qiang Chen, Dongwu Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

39 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1145-1167
Number of pages23
JournalInternational Journal of Robust and Nonlinear Control
Volume25
Issue number8
DOIs
Publication statusPublished - 25 May 2015

Keywords

  • L stability
  • dead zone nonlinearity
  • dynamic surface control
  • extended state observer
  • output feedback

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