Cooperative Control for Uncertain Nonlinear Systems Based on Fast Terminal Sliding Mode and Dynamic Expansion EPH Methods

To address the challenge of balancing rapid dynamic response with high steady‐state accuracy for a class of uncertain nonlinear systems, this paper proposes a novel cooperative control strategy that seamlessly integrates signal‐based fast integral terminal sliding mode control (FIT‐SMC) and energy‐based dynamically extended error port‐Hamiltonian (DE‐EPH) control. First, a time‐varying cooperative function based on a convex combination mechanism is designed to integrate FIT‐SMC and DE‐EPH, achieving co‐optimization of dynamic performance and steady‐state accuracy. Second, to ensure strong robustness, a super‐twisting extended state observer is developed, enabling high‐precision estimation and compensation of the system's lumped disturbances. Theoretically, the stability of the cooperative control system is rigorously proved via the construction of a Lyapunov function. Experimental results show that, compared to using either FIT‐SMC or DE‐EPH alone, the proposed cooperative control strategy exhibits significant comprehensive advantages in terms of dynamic response speed, steady‐state tracking accuracy, and disturbance rejection capability, thereby validating the effectiveness and superiority of the proposed cooperative control strategy.