Anti-disturbance dynamic inversion backstepping control for uncertain pure-feedback systems via multiple extended state observers
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 dynam...
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| Published in | Journal of the Franklin Institute Vol. 358; no. 13; pp. 6385 - 6407 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.09.2021
Elsevier Science Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 0016-0032 |
| DOI | 10.1016/j.jfranklin.2021.05.026 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | He, Kanghui Dong, Chaoyang Wang, Qing |
| Author_xml | – sequence: 1 givenname: Kanghui surname: He fullname: He, Kanghui email: zy1805206@buaa.edu.cn organization: School of Aeronautic Science and Engineering, Beihang University, Beijing, China – sequence: 2 givenname: Chaoyang surname: Dong fullname: Dong, Chaoyang email: dongchaoyang@buaa.edu.cn organization: School of Aeronautic Science and Engineering, Beihang University, Beijing, China – sequence: 3 givenname: Qing surname: Wang fullname: Wang, Qing email: qiangwang@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, Beijing, China |
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| CitedBy_id | crossref_primary_10_1016_j_jfranklin_2022_04_010 crossref_primary_10_1007_s12555_021_0343_2 crossref_primary_10_1016_j_jfranklin_2022_09_052 crossref_primary_10_1016_j_eswa_2024_125813 crossref_primary_10_1177_09596518241246825 crossref_primary_10_1002_rnc_6840 crossref_primary_10_1016_j_jfranklin_2023_06_027 |
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| Keywords | Extended state observer Backstepping Pure-feedback systems Mismatched uncertainties Dynamic inversion control |
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| SubjectTerms | 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 |
| Title | Anti-disturbance dynamic inversion backstepping control for uncertain pure-feedback systems via multiple extended state observers |
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