Simplified adaptive backstepping control for uncertain nonlinear systems with unknown input saturation and its application

被引：7
作者：
Liu, Jiapeng [1 ]
Chen, Xinkai [2 ]
Yu, Jinpeng [1 ]
机构：
[1] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China
[2] Shibaura Inst Technol, Dept Elect & Informat Syst, Saitama 3378570, Japan
来源：
CONTROL ENGINEERING PRACTICE | 2023年 / 139卷
基金：
中国国家自然科学基金;
关键词：
Adaptive control; Backstepping; Input saturation; Uncertainty; Nonlinear system; OUTPUT-FEEDBACK CONTROL; TRACKING CONTROL;
D O I：
10.1016/j.conengprac.2023.105639
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The calculation complex problem is one of the significant obstacles in the real-time implementation of traditional backstepping controllers. In this paper, we consider the simplification problem of the adaptive backstepping tracking controller for uncertain nonlinear systems with unknown input saturation. Compared with traditional backstepping controllers, virtual stabilizing functions and their derivatives are needless in our controller, which effectively reduces the computation burden. And then the one-order compensation subsystem is employed to eliminate the effect of nonlinear uncertainties based on the adaptive control scheme and the congelation of variables technique. Next, the performance of the closed-loop nonlinear system is analyzed based on the Lyapunov stability theorem. In the final, simulation and experimental results are given to show the effectiveness of our controller.
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页数：9
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