Command Filtered Backstepping
Command Filtered Backstepping
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DOI：
10.1109/acc.2008.4586773
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发表时间：
2008-06
影响因子：
6.8
通讯作者：
J. Farrell;M. Polycarpou;Manu Sharma;Wenjie Dong
中科院分区：
文献类型：
--
作者：
J. Farrell;M. Polycarpou;Manu Sharma;Wenjie Dong
随着系统阶数的增加，反推的实现变得越来越复杂。这种不断增加的复杂性主要是由于需要在设计的每个步骤计算命令导数，最终步骤需要与工厂相同阶数的导数。本文提出了一种修改，通过在反推设计中引入命令过滤器，避免了计算解析导数的需要。虽然命令滤波器的概念以前已经在文献中介绍过，但本技术说明的主要贡献是严格分析了命令滤波器对闭环稳定性和性能的影响，并根据吉洪诺夫定理证明了稳定性。实现方法包括补偿跟踪误差，保留了反推方法的标准稳定性。
Implementation of backstepping becomes increasingly complex as the order of the system increases. This increasing complexity is mainly driven by the need to compute command derivatives at each step of the design, with the ultimate step requiring derivatives of the same order as the plant. This article addresses a modification that obviates the need to compute analytic derivatives by introducing command filters in the backstepping design. While the concept of the command filter has previously been introduced in the literature, the main contribution of this technical note is the rigorous analysis of the effect of the command filter on closed-loop stability and performance, and a proof of stability based on Tikhonov's theorem. The implementation approach includes a compensated tracking error that retains the standard stability properties of backstepping approaches.