Robust Adaptive Control for Nonlinear Systems with Hα Tracking Performance: Dynamic Surface Design Approach

The authors propose the robust controller via Hα approach for a class of uncertain nonlinear systems in the parametric strict-feedback form. The controller incorporated with adaptive dynamic surface technique and the Hα control technique is developed to reduce the influence of the parameter uncertainties and external disturbances on system performance. Finally, the one-link flexible joint manipulator is simulated to confirm the effectiveness and applicability of the proposed control scheme.