Dynamic surface control via singular perturbation analysis

• Yongping Pan ^[1] ; Haoyong Yu ^[1]
  1. [1] National University of Singapore

     National University of Singapore

     Singapur

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 57, 2015, págs. 29-33
• Idioma: inglés
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• Resumen

  • This note contributes to the technical nature of dynamic surface control (DSC) based on a class of strict-feedback nonlinear systems. The DSC technique prevents the complexity problem in integrator backstepping control (IBC). Yet, the stability results obtained by existing DSCs are conservative, and consequently, cannot fully reveal the technical nature of DSC. By the exploitation of the singular perturbation theory, several novel features of DSC are revealed as follows: (1) semiglobal practical exponential stability can be guaranteed only by a suitably small filter parameter; (2) steady-state tracking accuracy does not rely on high control gains; (3) the performance of IBC can be recovered via the decrease of the filter parameter. These features are not only significant for understanding the technical nature of DSC, but also useful for establishing an efficient strategy of parameter selection and system debugging. Simulation results have verified correctness of the theoretical result.