南方科技大学知识苑(SUSTech KC): High-order command filtered adaptive backstepping control for second- and high-order fully actuated strict-feedback systems

题名	High-order command filtered adaptive backstepping control for second- and high-order fully actuated strict-feedback systems
作者	Liu，Weizhen 1; Duan，Guangren1,2 ; Hou，Mingzhe 1
通讯作者	Liu，Weizhen
发表日期	2023-04-01
DOI	10.1016/j.jfranklin.2023.01.014
发表期刊	JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 影响因子和分区
ISSN	0016-0032
EISSN	1879-2693
卷号	360 期号:6页码:3989-4015
摘要	In this paper, a high-order command filtered adaptive backstepping (HOCFAB)-based approach is proposed in order to track a given reference signal for the second- and high-order strict-feedback systems (SFSs) with parametric uncertainties, where both their subsystems hold a common full-actuation structure, namely, high-order fully actuated (HOFA) SFSs. Unlike the prevailing traditional first-order state-space backstepping approach which suffers from the problem of “explosion of terms”, the proposed HOCFAB approach circumvents the complexity arising owing to differentiating the virtual controllers repeatedly, and does not need to convert the high-order systems into first-order forms which is easier to carry out and demands fewer steps. Meanwhile, an error-compensating mechanism is constructed to reduce filtering errors. A critical analysis is theoretically proven which indicates that in both cases the entire system states are uniformly ultimately bounded under the proposed high-order controller, and the tracking error could be made arbitrarily small with predesigned parameters. Finally, the effectiveness of the proposed scheme is verified by a benchmark application in the robotic manipulator.
相关链接	[Scopus记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
资助项目	Science Center Program of the National Natural Science Foundation of China[62188101] ; Major Program of National Natural Science Foundation of China["61690210","61690212"] ; National Natural Science Foundation of China[62073096] ; Self-Planned Task State Key Laboratory of Robotics and System (HIT)[SKLRS201716A]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS记录号	WOS:000956375400001
出版者	PERGAMON-ELSEVIER SCIENCE LTD
EI入藏号	20231013681806
EI主题词	Adaptive control systems ; Adaptive filtering ; Adaptive filters ; Backstepping ; Errors ; Feedback control ; Manipulators
EI分类号	Control Systems:731.1 ; Mathematics:921 ; Systems Science:961
ESI学科分类	ENGINEERING
Scopus记录号	2-s2.0-85149375565
来源库	Scopus
引用统计	被引频次[WOS]：9
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/513380
专题	工学院_系统设计与智能制造学院
作者单位	1.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,150001,China 2.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China
推荐引用方式 GB/T 7714	Liu，Weizhen,Duan，Guangren,Hou，Mingzhe. High-order command filtered adaptive backstepping control for second- and high-order fully actuated strict-feedback systems[J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,2023,360(6):3989-4015.
APA	Liu，Weizhen,Duan，Guangren,&Hou，Mingzhe.(2023).High-order command filtered adaptive backstepping control for second- and high-order fully actuated strict-feedback systems.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,360(6),3989-4015.
MLA	Liu，Weizhen,et al."High-order command filtered adaptive backstepping control for second- and high-order fully actuated strict-feedback systems".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 360.6(2023):3989-4015.