Original scientific paper
https://doi.org/10.1080/00051144.2018.1517512
Advanced backstepping control based on ADR for non-affine non-strict feedback nonlinear systems
Chunhua Cheng
; Department of Instrumentation and Control, Qingdao Branch, Naval Aviation University, Qingdao, People’s Republic of China
Yazhou Di
; Department of Instrumentation and Control, Qingdao Branch, Naval Aviation University, Qingdao, People’s Republic of China
Jingshuo Xu
; Department of Instrumentation and Control, Qingdao Branch, Naval Aviation University, Qingdao, People’s Republic of China
Tao Yuan
; Department of Instrumentation and Control, Qingdao Branch, Naval Aviation University, Qingdao, People’s Republic of China
Abstract
Few results are made on non-affine non-strict feedback nonlinear systems, which is a challenging problem in the control theory. In this paper, a novel control method based on an advanced
backstepping and auto disturbance rejection is presented for a class of non-affine non-strict nonlinear feedback systems. The proposed advanced backstepping controller consists of differentiator and extended state observer, which are respectively used to approach the derivative of the virtual control and estimate the unknown part of the system. The framework of the proposed controller is both systematic and simple, and the assumptions have been relaxed. Moreover, the input to state stability analysis shows that the system states can asymptotically converge to an arbitrarily small region of equilibrium point. The simulation studies proved the effectiveness of the proposed design scheme.
Keywords
Non-affine non-strict feedback; auto disturbance rejection (ADR); extended state observer (ESO); track differentiator (TD); advanced backstepping; input to state stability (ISS)
Hrčak ID:
225197
URI
Publication date:
28.9.2018.
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