Abstract
This paper proposes a hybrid STA (Super-Twisting Algorithm) based DSC (Dynamic Surface Control) scheme with a state observer and tracking error constraining method for MIMO (Multi-Input, Multi-Output) nonlinear systems. Using the transformed error states contributed by the STA, a controller was designed according to the recursive steps in conventional DSC systems. Moreover, in this study, the complexity problem in the conventional DSC schemes caused by the interpretation of the filtering output errors and related stability analysis were bypassed by combining DSC with the STA. In addition, the tracking error constraint method was applied to constrain the full tracking errors of the STA based DSC system. Finally, unmeasured states were estimated by state observers and blended into controller design. The proposed method achieved competitive results compared with conventional DSC systems, as demonstrated by the simulation results obtained using an articulated manipulator system.
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