Practical Finite-Time Command Filtered Backstepping With its Application to DC Motor Control Systems

被引：37
作者：
Zheng, Xiaolong [1 ]
Yu, Xinghu [2 ,3 ]
Jiang, Jiaxu [1 ]
Yang, Xuebo [4 ]
机构：
[1] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Sch Astronaut, Harbin 150001, Peoples R China
[2] Ningbo Inst Intelligent Equipment Technol Co Ltd, Ningbo 315201, Peoples R China
[3] Yongjiang Lab, Ningbo 315202, Peoples R China
[4] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Sch Astronaut, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2024年 / 71卷 / 03期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Command filtered backstepping; direct current (dc) motor control system; practical finite-time stability; NONLINEAR-SYSTEMS; TRACKING;
D O I：
10.1109/TIE.2023.3269478
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, a practical finite-time command filtered backstepping control method is proposed for a class of uncertain nonlinear systems with unknown control direction coefficients, unmodeled dynamics, and external disturbances. In this approach, practical finite-time command filters are proposed to get the differential estimations of the system signals, and such estimations are used to construct the approximations of the system uncertainties. In order to address the design difficulties caused by the system unknown control direction coefficients, a virtual control direction method is presented by using a system equivalence transformation. Based on practical finite-time Lyapunov stability criterion, it can be proved that the system tracking error is practical finite-time stable with convergence rate faster than exponential. Finally, this method is applied to a direct current motor control system, and experimental results demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：2955 / 2964
页数：10
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