Abstract:

The tracking control problems for a class of high-order nonlinear systems with uncontrollable and unsta〖JP+3〗bilizable linearization are studied，and a nonsmooth state feedback dynamic surface controller is proposed. Based on adding a power integrator method, the virtual derivable controllers are designed by referring to the idea of state reference. According to the dynamic surface control method, a low pass filter is introduced to overcome the differential for the function of the virtual controller in every step. The designed nonsmooth statefeedback dynamic surface controller guarantees that the tracking error is semi-global uniformly ultimately bounded. The results of the simulation example prove the effectiveness of the proposed control scheme.