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Barrier function-based dynamic surface control with global stability guarantees: Theory and implementation
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DOI：10.1016/j.isatra.2026.08.024.png)
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Abstract
En 中文
<ul class="list">
<li class="react-xocs-list-item"><span class="list-label">•</span><span class="list-content">
<div class="u-margin-s-bottom" id="p0015">
A novel barrier function-based dynamic surface control (BFDSC) framework is developed for strict-feedback nonlinear systems.
</div></span></li>
<li class="react-xocs-list-item"><span class="list-label">•</span><span class="list-content">
<div class="u-margin-s-bottom" id="p0020">
Barrier function-based nonlinear filters are introduced to explicitly constrain filtered errors and prevent error accumulation.
</div></span></li>
<li class="react-xocs-list-item"><span class="list-label">•</span><span class="list-content">
<div class="u-margin-s-bottom" id="p0025">
Global uniform boundedness of all closed-loop signals is rigorously established via Lyapunov-based analysis.
</div></span></li>
<li class="react-xocs-list-item"><span class="list-label">•</span><span class="list-content">
<div class="u-margin-s-bottom" id="p0030">
The proposed method preserves smooth control behavior and avoids chattering caused by nonsmooth compensation terms.
</div></span></li>
<li class="react-xocs-list-item"><span class="list-label">•</span><span class="list-content">
<div class="u-margin-s-bottom" id="p0035">
Simulation and Franka Panda robot experiments demonstrate improved tracking accuracy and robustness compared with CDSC.
</div></span></li>
</ul>
Keywords:
Barrier functions
Dynamic surface control
Strict-feedback nonlinear systems
Nonlinear filters
Global boundedness
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