This paper proposes a hybrid fuzzy dynamic surface control (DSC) method combined with a supertwisting control (STC) method and a supertwisting nonlinear disturbance observer (STO) for multi-input multi-output nonlinear strict-feedback systems is proposed, in addition to a new partial tracking error constraining method. For the design of the stabilizing controls of the DSC, the virtual tracking errors in recursive procedures were transformed into the design variables of the STC. The uncertainties were estimated by an STO, which includes the approximation error between the unknown plant dynamics and fuzzy optimization function, in addition to the external disturbances. Furthermore, the proposed DSC combined with the STC scheme can prevent the complex analysis problem of the filtered output error in conventional DSC schemes. Moreover, a novel convenient tracking error constraining method is also presented. Simulation results revealed that the proposed scheme has an improved tracking error performance and robustness to uncertainty than control systems with a conventional nonlinear disturbance observer and several other DSC schemes.

中文翻译：

---

具有超扭曲非线性扰动观测器和新的部分跟踪误差约束的 MIMO 严格反馈非线性动态系统的模糊超扭曲动态表面控制

本文提出了一种混合模糊动态表面控制 (DSC) 方法，结合超扭曲控制 (STC) 方法和超扭曲非线性扰动观测器 (STO)，用于多输入多输出非线性严格反馈系统，此外还提出了新的部分跟踪误差约束方法。为了设计 DSC 的稳定控制，递归程序中的虚拟跟踪误差被转化为 STC 的设计变量。不确定性由 STO 估计，除了外部干扰外，还包括未知设备动力学和模糊优化函数之间的近似误差。此外，所提出的 DSC 与 STC 方案相结合，可以避免传统 DSC 方案中过滤输出误差的复杂分析问题。而且，还提出了一种新颖方便的跟踪误差约束方法。仿真结果表明，与具有传统非线性干扰观测器和其他几种 DSC 方案的控制系统相比，所提出的方案具有改进的跟踪误差性能和对不确定性的鲁棒性。