Abstract
In this technical note, we present a novel control approach based on dynamic surface for single input nonlinear systems in the presence of input saturation. The control algorithm is constructed by introducing first-order filtering of the virtual input at each step of the traditional backstepping approach. To deal with the problem of input saturation, we incorporate a new auxiliary design system and Nussbaum gain functions into the control scheme. Compared with the early backstepping approach, the dynamic surface control scheme has greatly simplified the design process. It is proved that the global stability of the closed-loop system can be guaranteed by the proposed control algorithm.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China (Grant No. 61374048) and the Research Fund for Doctoral Program of Higher Education of China (Grant No. 20121102110008).
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Pi, C., Liu, J. (2015). Dynamic Surface Control for a Class of Nonlinear Systems in the Presence of Input Saturation. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 337. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46463-2_46
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DOI: https://doi.org/10.1007/978-3-662-46463-2_46
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