High-order fully actuated system approaches: Part III. Robust control and high-order backstepping
By G. Duan. International Journal of Systems Science, 2020
381 citations recorded by the source corpus.
In this paper, three types of uncertain high-order nonlinear models are firstly proposed, namely, a single high-order fully actuated (HOFA) model with nonlinear uncertainties, an uncertain second-order strict-feedback system (SFS) and an uncertain high-order SFS, and the relations among these types of models are also discussed. Secondly, a direct approach for the design of robust stabilising controllers and robust tracking controllers for an uncertain single HOFA model are proposed based on the Lyapunov stability theory. Using the obtained robust control design result, the second- and high-order backstepping methods for the designs of robust stabilising controllers of the introduced second- and high-order SFSs are also proposed. The proposed approaches do not need to convert the high-order systems into first-order ones, and for a specific system design, the proposed high-order backstepping methods need fewer steps than the usual first-order backstepping method, hence are generally more direct and simpler. An illustrative example demonstrates both the effect and the application procedure of the proposed HOFA robust control approaches.
Subfields: Control and Systems Engineering, Statistical and Nonlinear Physics
View Paper: https://www.semanticscholar.org/paper/482dc651a8ac6ccd3afb7e2a34c75e6045033e05
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Control and Systems Engineering
In Statistical and Nonlinear Physics
Citations in the corpus
- High-order fully actuated system approaches: Part IV. Adaptive control and high-order backstepping (2020, methodology): “…in the first-order state-space form by variable extension, or equivalently, by defining a state vector; on the other hand, we can often finally derive a HOFA system through ways of variable elimination if the system is controllable in a certain sense (Duan, 2020a, 2020b, 2020c, 2020d, 2020e).”