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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Perez-Arancibia NO, Tsao T-C, Gibson JS (2010) Saturation-induced instability and its avoidance in adaptive control of hard disk drives. IEEE Trans Control Syst Technol 2:368–382
Kapila V, Grigoriadis K (eds) (2002) Actuator saturation control (automation and control engineering). CRC Press, Orlando
Annaswamy AM, Evesque S, Niculescu SI, Dowling AP (2001) Adaptive control of a class of time-delay systems in the presence of saturation. Adapt Control Nonsmooth Dyn Syst 333–348
Karason SP, Annaswamy AM (1994) Adaptive control in the presence of input constraints. IEEE Trans Autom Control 39(11):2325–2330
Zhou J (2008) Decentralized adaptive control for large-scale time-delay systems with dead-zone input. Automatic 44(7):1790–1799
Li YM, Tong SC, Li TS (2013) Direct adaptive fuzzy backstepping control of uncertain nonlinear systems in the presence of input saturation. Neural Comput Appl 23:1207–1216
Ting CS (2008) A robust fuzzy control approach to stabilization of nonlinear time-delay systems with saturating inputs. Int J Fuzzy Syst 10(1):50–60
Wen CY, Zhou J, Liu ZT, Su HY (2011) Robust adaptive control of uncertain nonlinear systems in the presence of input saturation and external disturbance. IEEE Trans Autom Control 66(7):1672–1678
Swaroop D, Gerdes JC, Yip PP, Hedrick JK (1997) Dynamic surface control of nonlinear systems. In: Proceedings American control conference, Albuquerque, NM, pp 3028–3034
Swaroop D, Hedrick JK, Yip PP, Gerdes JC (2000) Dynamic surface control for a class of nonlinear systems. IEEE Trans Autom Control 45(10):1893–1899
Yip PP, Hedrick JK (1998) Adaptive dynamic surface control: a simplified algorithm for adaptive backstepping control of nonlinear systems. Int J Control 71(5):959–979
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).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-662-46463-2_46
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-46462-5
Online ISBN: 978-3-662-46463-2
eBook Packages: EngineeringEngineering (R0)