An improved method of dynamic surface control for a class of nonlinear systems

An improved method of dynamic surface second order sliding mode control is presented with arbitrarily small tracking error for nonlinear systems with mismatched uncertainties in the strict feedback form. Comparing with the classical backstepping procedure, the dynamic surface control allows the model is not differentiated, thus avoids the problem of “explosion of the term” that backstepping design suffers from. The second order sliding mode control introduced in the last step not only reduces the quantity of calculation, but also strengthens system robustness and improves its accuracy. The simulation results also prove it.