Anti-disturbance dynamic inversion backstepping control for uncertain pure-feedback systems via multiple extended state observers

• Published in: Journal of the Franklin Institute Vol. 358; no. 13; pp. 6385 - 6407
• Main Authors: He, Kanghui, Dong, Chaoyang, Wang, Qing
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.09.2021; Elsevier Science Ltd
• Subjects: Backstepping; Closed loop systems; Control methods; Control systems; Controllers; Convergence; Dynamic inversion; Dynamic inversion control; Extended state observer; Feedback control; Fuzzy control; Fuzzy logic; Fuzzy systems; High gain; Mathematical analysis; Mismatched uncertainties; Neural networks; Pure-feedback systems; Stability analysis; State observers; Extended state observer; Backstepping; Pure-feedback systems; Mismatched uncertainties; Dynamic inversion control
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2021.05.026

Most extant control designs for uncertain pure-feedback systems are based on backstepping procedure or dynamic surface control, requiring repeated calculation or approximation of the derivatives of the virtual control action. The fuzzy logic systems or neural networks used to cope with unknown dynamics also inherently introduce excess computation burden and sluggish convergence. In view of these, this paper provides a novel backstepping approach by combining extended state observers with dynamic inversion controllers. With high gain properties both on the observers and controllers, the resulting closed-loop system presents relatively fast convergence. By using dynamic inversion backstepping, the explosion of complexity problem that restricts the applicability of backstepping-like control methods, which are representatively employed to the control of pure-feedback systems, is entirely surmounted without resorting to filtering. The theoretical analysis of stability shows the closed-loop system has adjustable tracking performance. Finally, the efficiency of the proposed method is illustrated by comparative simulations.