@article{KONG2022, 
author = {Dezhi KONG and Wendong WANG and Yang WANG and Junbo ZHANG and Yikai SHI and Lingyun KONG},
title = {Spiking-free HGO-based DSC for flexible joint manipulator},
year = {2022},
journal = {Chinese Journal of Aeronautics},
volume = {35},
number = {3},
pages = {419-431},
keywords = {Dynamic surface control, Flexible joint manipulator, High-gain observer, Mismatched uncertainties, Partial states feedback, Spike suppression},
url = {https://www.sciopen.com/article/10.1016/j.cja.2021.05.023},
doi = {10.1016/j.cja.2021.05.023},
abstract = {The tracking control problem for Flexible Joint Manipulator Control System (FJMCS) with unmeasurable states is addressed in this paper. Firstly, a High-Gain Observer (HGO) is constructed to estimate the unmeasurable states and the uncertainties. Then, a Dynamic Surface Control (DSC) scheme is developed by using the estimation of HGO. The newly proposed controller has two advantages over the existing methods: (A) a novel Spike Suppression Function (SSF) is developed to avoid the estimation spike problem in the existing HGO-based controllers. (B) Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states, the proposed HGO can estimate both the unmeasurable states and uncertainties. The closed-loop system stability is proved by the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed controller.}
}