嵌入时变命令滤波器的Backstepping设计
Backstepping Design Embedded With Time-Varying Command Filters
摘要：
如果适当地嵌入命令过滤器，可以大大简化反推设计的实现。在本文中，我们引入了一个具有时变增益的命令滤波器，并将其与backstepping设计相结合，从而产生了一组新的backstepping控制算法，即使对于高阶严格反馈系统也具有较低的复杂度。此外，借助于基于补偿器的“软化”符号函数，在保持规定的瞬态性能的同时确保了零误差输出跟踪。数值仿真验证了该方法的有效性和优越性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
