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首页> 外文期刊>Journal of the Franklin Institute >Anti-disturbance dynamic inversion backstepping control for uncertain pure-feedback systems via multiple extended state observers
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Anti-disturbance dynamic inversion backstepping control for uncertain pure-feedback systems via multiple extended state observers

机译：通过多个扩展状态观察器对不确定纯反馈系统的反干扰动态反转反向控制

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摘要

Most extant control designs for uncertain pure-feedback systems are based on backstepping procedure or dynamic surface control, requiring repeated calculation or approximation of the derivatives of the virtual control action. The fuzzy logic systems or neural networks used to cope with unknown dynamics also inherently introduce excess computation burden and sluggish convergence. In view of these, this paper provides a novel backstepping approach by combining extended state observers with dynamic inversion controllers. With high gain properties both on the observers and controllers, the resulting closed-loop system presents relatively fast convergence. By using dynamic inversion backstepping, the explosion of complexity problem that restricts the applicability of backstepping-like control methods, which are representatively employed to the control of pure-feedback systems, is entirely surmounted without resorting to filtering. The theoretical analysis of stability shows the closed-loop system has adjustable tracking performance. Finally, the efficiency of the proposed method is illustrated by comparative simulations.
机译：对于不确定的纯反馈系统的大多数远端控制设计基于BackStepping过程或动态表面控制，需要重复计算或近似虚拟控制操作的衍生物。用于应对未知动态的模糊逻辑系统或神经网络也固有地引入过量的计算负担和缓慢的收敛性。鉴于这些，本文通过将扩展状态观察者与动态反转控制器组合来提供一种新颖的反触发方法。在观察者和控制器上具有高增益性能，所得到的闭环系统具有相对快速的收敛性。通过使用动态反转倒置，爆炸复杂性问题，其限制了相当于控制纯反馈系统的反馈系统的反向插入式控制方法的适用性，完全超越了过滤。稳定性的理论分析显示闭环系统具有可调节的跟踪性能。最后，通过比较模拟说明了所提出的方法的效率。

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