High-order fully actuated system approaches: Part II. Generalized strict-feedback systems
By G. Duan. International Journal of Systems Science, 2020
388 citations recorded by the source corpus.
An advantage of a high-order fully-actuated (HOFA) system is that there exists a controller such that a constant linear closed-loop system with an arbitrarily assignable eigenstructure can be obtained. In this paper, a generalised form of the conventional first-order strict-feedback systems (SFSs) is firstly proposed, and a recursive solution is proposed to convert equivalently the generalised SFS into a HOFA model. Then the second- and high-order SFSs are defined and their equivalent HOFA models are also derived. It is further shown that, under certain common conditions, the recursive solutions for converting the generalised SFSs into HOFA models can be rearranged into direct analytical explicit solutions. Such a high-order system approach is more direct and simpler than the first-order system approach since it avoids the process of converting firstly these second- and high-order SFSs into first-order ones for control, and can finally produce a constant linear closed-loop system. Particularly, it is more effective than the well-known method of backstepping since, for the generalised complicated SFSs with more subsystems, the method of backstepping may simply be not applicable due to more serious ‘differential explosion’ problem. Two examples are worked out to demonstrate the effect of the approach.
Subfields: Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/9edf32565b247272715c24ed4d073885786a0dfb
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
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).”