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

Dake Gu et al.

IEEE Transactions on Cybernetics2026https://doi.org/10.1109/tcyb.2026.3667176article
AJG 3
Weight
0.37

What the paper says

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.

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https://doi.org/https://doi.org/10.1109/tcyb.2026.3667176

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@article{dake2026,
  title        = {{Robust Dynamic Surface Control for High-Order Strict-Feedback Systems With Output Constraints Based on Fully Actuated System Approach}},
  author       = {Dake Gu et al.},
  journal      = {IEEE Transactions on Cybernetics},
  year         = {2026},
  doi          = {https://doi.org/https://doi.org/10.1109/tcyb.2026.3667176},
}

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Evidence weight

0.37

Balanced mode · F 0.40 / M 0.15 / V 0.05 / R 0.40

F · citation impact0.16 × 0.4 = 0.06
M · momentum0.53 × 0.15 = 0.08
V · venue signal0.50 × 0.05 = 0.03
R · text relevance †0.50 × 0.4 = 0.20

† Text relevance is estimated at 0.50 on the detail page — for your query’s actual relevance score, open this paper from a search result.