论文标题
嵌入时间变化的命令过滤器的后台设计设计
Backstepping Design Embedded With Time-Varying Command Filters
论文作者
论文摘要
如果正确嵌入了命令过滤器，则可以极大地简化反击设计的实现。在本文中，我们引入了一个具有时变增益的命令过滤器，并将其与后台设计集成在一起，从而导致了一组新的后台控制算法，即使对于高阶的严格反馈系统，也具有低复杂性。此外，借助“软化”符号函数补偿器，确保零误差输出跟踪，同时保持规定的瞬态性能。进行数值模拟以验证所提出方法的有效性和好处。
If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this paper, we introduce a command filter with time-varying gain and integrate it with backstepping design, resulting in a new set of backstepping control algorithms with low complexity even for high-order strict-feedback systems. Furthermore, with the aid of "softening" sign function based compensator, zero-error output tracking is ensured while at the same time maintaining prescribed transient performance. Numerical simulation is carried out to verify the effectiveness and benefits of the proposed method.
