Skip to content

Adaptive dynamic surface control based on fuzzy disturbance observer for drive system with elastic coupling

Research output: Contribution to journalArticle

  • Shubo Wang
  • Xuemei Ren
  • Jing Na
Original languageEnglish
Pages (from-to)1899-1919
Number of pages21
JournalJournal of the Franklin Institute
Issue number8
Early online date16 Mar 2016
DateAccepted/In press - 7 Mar 2016
DateE-pub ahead of print - 16 Mar 2016
DatePublished (current) - May 2016


This paper proposes an adaptive control strategy by employing dynamic surface control (DSC) technique and fuzzy disturbance observer (FDO) for the two-inertia system with uncertainties and external disturbance. Firstly, the unknown elements including uncertainties and external disturbance are estimated by using a fuzzy disturbance observer which does not need a priori information of these unknown dynamics. Next, the estimations of unknown disturbance are integrated into DSC design by using recursive feedbacks to damp torsional vibration. The 'explosion of complexity' in conventional backstepping technique is avoided by introducing first-order filters. The stability analysis of the design scheme is verified based on the Lyapunov stability theory. All the signals in the closed-loop system are guaranteed to be uniformly ultimately bounded and the tracking error can be made arbitrarily small by adjusting the design parameters. Comparative simulations and experiments demonstrate the effectiveness and applicability of the proposed method.

Download statistics

No data available



  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Elsevier at Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 1 MB, PDF document


View research connections

Related faculties, schools or groups