High-order fully actuated system approaches: Part III. Robust control and high-order backstepping

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...

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Bibliographic Details
Published in:International journal of systems science 2021-04, Vol.52 (5), p.952-971
Main Author: Duan, Guangren
Format: Article
Language:English
Subjects:
Control stability
Controllers
high-order backstepping
High-order fully-actuated models
high-order strict-feedback systems
nonlinear uncertainties
Robust control
Systems design
Tracking control
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Summary: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.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2020.1849863