A note on “Fractional-order adaptive backstepping control of robotic manipulators in the presence of model uncertainties and external disturbances”

2021 ◽  
Vol 43 (12) ◽  
Author(s):  
Alireza Izadbakhsh ◽  
Saeed Khorashadizadeh ◽  
Nazila Nikdel
Keyword(s):  
Fractional Order ◽  
Robotic Manipulators ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Adaptive Backstepping Control

scholarly journals Adaptive Backstepping Control for Longitudinal Dynamics of Hypersonic Vehicle Subject to Actuator Saturation and Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Zhiqiang Jia ◽  
Tianya Li ◽  
Kunfeng Lu
Keyword(s):  
Control Strategy ◽  
Actuator Saturation ◽  
Hypersonic Vehicle ◽  
Backstepping Control ◽  
Order System ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Longitudinal Control ◽  
Adaptive Backstepping Control ◽  
Control Scheme

In this paper, an adaptive backstepping control strategy is presented to solve the longitudinal control problem for a hypersonic vehicle (HSV) subject to actuator saturation and disturbances. Small perturbation linearization transforms the dynamics to a seconded-order system at each trimming point, with total disturbance including unmodeled dynamics, parametric uncertainties, and external disturbances. The disturbance can be estimated and compensated for by an extended state observer (ESO), and thus the system is decoupled. To deal with the actuator saturation and wide flight envelope, an adaptive backstepping control strategy is designed. A rigorous proof of finite-time convergence is provided applying Lyapunov method. The effectiveness of the proposed control scheme is verified in simulations.

Sign in / Sign up

Export Citation Format

Share Document