In view of the mismatched disturbance of a kind of nonlinear strict feedback system,a dynamic surface fixed time control strategy based on the new disturbance observer is proposed.Firstly,a new disturbance observer is designed to estimate the mismatched disturbances.Secondly,the fixed-time controller without fractional power term is designed by using backstepping method to avoid singular value problem.Then,combined with the new fixed-time filter,the phenomenon of"differential explosion"is eliminated.The analysis of Lyapunov's function stability theory shows that the proposed scheme can ensure that the tracking error converges to the small neighborhood of the origin in a fixed time,and the simulation results verify the effectiveness of the proposed control scheme.
关键词
扰动观测器/动态面控制/固定时间稳定/反步控制
Key words
disturbance observer/dynamic surface control/fixed-time stable/backstepping control
维普
万方数据