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Robust adaptive backstepping control for an uncertain nonlinear system with input constraint based on Lyapunov redesign

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  • Control Theory and Applications
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Abstract

This paper presents the control problem for a class of n-order semi-strict nonlinear system subjects to unknown parameters, uncertainty, and input constraint. The controller is designed via combining backstepping control and Lyapunov redesign. Firstly, based on the Lyapunov function, a composite adaptive law is constructed to estimate the unknown parameters. To sequel, a robust term is designed to handle the matched and unmatched uncertainties on the basis of Lyapunov redesign technique. The “explosion of terms” problem that inherent in backstepping control is avoided by the robust second-order filters. Thirdly, an auxiliary signal provided by the auxiliary system is employed to handle the influence of the input constraint. It is proved that the closed-loop system is stable in a Lyapunov framework theory and the semi-global uniformly ultimate boundedness of all signals is achieved. Finally, numerical simulations are carried out to evaluate the performance of the proposed control strategy. Numerical example and the application of the hypersonic vehicle (HSV) tracking control are simulated to demonstrate the effectiveness of the proposed control scheme.

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Author information

Authors and Affiliations

  1. School of Science, Yanshan University, Yanshan, China

    Fang Wang

  2. School of Mechanics, Yanshan University, Yanshan, China

    Qin Zou

  3. School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China

    Qun Zong

Authors
  1. Fang Wang
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  2. Qin Zou
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  3. Qun Zong
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Corresponding author

Correspondence to Fang Wang.

Additional information

Recommended by Associate Editor H. Jin Kim under the direction of Editor Fuchun Sun. This work was supported in part by the National Natural Science Foundation of China (61503323, 61203012), China Postdoctoral Science Foundation (2015M571282), the Young Teachers Independent Research Program of Yanshan University (14LGB027), The PhD Programs Foundation of Yanshan University(B928), The First Batch of Young Talent Support Plan in Hebei Province, The Youth Foundation of Hebei Educational Committee (QN20131092). Authors would like to greatly appreciate the editor and all the anonymous reviewers for their comments, which help to improve the quality of this paper.

Fang Wang received her M.S. degree in Computational Mathematics from Yanshan University, Hebei, China, in 2008. In 2014, she received her Ph.D. degree in control theory and control engineering from Tianjin University, Tianjin, China. She is currently a lecturer in Yanshan University. Her major research interests include nonlinear control theories, adaptive control, robust control, guidance and control of aircraft.

Qin Zou has completed her Ph.D. degree from Kochi University of Technology, Japan, in 2008, which major is Photoelectron. She also completed her Ph.D. degree from Yanshan University, Hebei, China, 2008, which major is Materials Science. She is currently a Professor in Yanshan University, and her research filed is majorly in materials science of aerospace.

Qun Zong was born in Tianjin, China, in 1961. He received the Bachelors, Masters, and Ph.D. degrees in automatic control from Tianjin University, Tianjin, in 1983, 1995, and 2002, respectively. Since 1983, he has been with the School of Electrical Engineering and Automation, Tianjin University, where he is currently a Professor. His main research interests include complex system modeling and flight control.

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Wang, F., Zou, Q. & Zong, Q. Robust adaptive backstepping control for an uncertain nonlinear system with input constraint based on Lyapunov redesign. Int. J. Control Autom. Syst. 15, 212–225 (2017). https://doi.org/10.1007/s12555-015-0222-9

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  • DOI: https://doi.org/10.1007/s12555-015-0222-9

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