Robust Dynamic Surface Control for High-Order Strict-Feedback Systems With Output Constraints Based on Fully Actuated System Approach

This article proposes a high-order robust dynamic surface control method for high-order strict-feedback systems (SFSs) with asymmetric output constraints and external disturbances, based on the fully actuated system approach. By introducing a class of nonlinear transformation functions, the original system's output constraint problem is transformed into a bounded problem in a new system representation. The proposed method directly designs a controller for each higher order subsystem using the fully actuated system framework, avoiding transformation to a first-order system and thereby simplifying the control design process. Stability analysis demonstrates that all closed-loop signals are uniformly ultimately bounded, while the system output successfully tracks the reference signal without violating the prescribed constraints. Numerical simulations on a robotic manipulator and an electromechanical system validate the effectiveness of the proposed approach.