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arXiv · 2201.02940

Backstepping Design Embedded With Time-Varying Command Filters

Hefu Ye·Yongduan Song
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Abstract

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.

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Hefu Ye, Yongduan Song. 2022-01-09. Backstepping Design Embedded With Time-Varying Command Filters. https://arxiv.org/abs/2201.02940

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