Command Filtered Backstepping

Farrell, Jay A.; Polycarpou, Marios M.; Sharma, Manu; Dong, Wenjie

doi:10.1109/tac.2009.2015562

Cited by 977 publications

(338 citation statements)

References 19 publications

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“…Hence, the performance of the command filtered adaptive backstepping approach can be made arbitrarily close to that of the standard adaptive backstepping approach of Section 4.2. A formal proof of this statement can be found in [59]. This rigorous proof is based on singular perturbation theory and makes use of Tikhonov's Theorem as given in [106].…”

Section: Theorem 42 the Closed-loop System Consisting Of The Systemmentioning

confidence: 99%

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Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Sonneveldt¹

2011

Advances in Flight Control Systems

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Section: Theorem 42 the Closed-loop System Consisting Of The Systemmentioning

confidence: 99%

“…The analytic calculation of β i (x i ,x) for the F-16 model is relatively time-consuming, since the regressors ϕ * are quite large and contain the B-spline basis functions. Furthermore, the expression 59) has to be solved for some functions δ ij (x, e). This is an even more tedious process due to the B-spline basis functions.…”

Section: Adaptive Control Designmentioning

confidence: 99%

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Sonneveldt¹

2011

Advances in Flight Control Systems

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“…In Farrell et al, 15 command filtered back-stepping is proposed to offer a means to get the time derivatives of the pseudo control signals. In Huo and colleagues, 16,17 low-pass filter is used to construct the derivative of pseudo control input.…”

Section: Introductionmentioning

confidence: 99%

Command filtered back-stepping missile integrated guidance and autopilot based on extended state observer

Wang

Zhang

Wang

et al. 2017

Advances in Mechanical Engineering

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This article focuses on the missile integrated guidance and autopilot design in the end-game phase with control input saturation. First, the nonlinear integrated guidance and autopilot model is developed with third actuator dynamics, where the control surface deflection has magnitude constraint. Second, three nonlinear extended state observers are used to estimate the aerodynamics coefficients' uncertainties and unmatched time-varying disturbances. Third, a command filtered controller is designed step by step with linear and nonlinear sliding surfaces to improve the terminal performance. In the process, different command filters are implemented to avoid the influences of disturbances and repetitive derivation and solve the problem of unknown control direction. The stability of closed-loop system is proved by Lyapunov theory, and the principles abided by the controller parameters are concluded through the proof. Finally, 6-degree-of-freedom numerical simulations are presented to show the feasibility and validity of the proposed controller.

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“…To solve these problems, Farrell, etc. [10,11] introduced a constrained command filter into backstepping control systems. The command filter is used to eliminate the impact of derivative of the virtual control signals and control saturation.…”

Section: Introductionmentioning

confidence: 99%

“…The adaptive backstepping method proposed in this paper is a recursive, Lyapunov-based, nonlinear controller design approach which makes use of parameter update laws to estimate the disturbances of the rotational dynamics. With the command filter, it is possible to control the limit of the attitude and angular rate, at the same time under the actuator constraints [10]. And, the derivatives of the pseudo control signal are numerically calculated by the command filter instead of calculating it analytically.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

Cui¹,

Zhong²

2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

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Abstract-In this paper, a hexarotor unmanned aerial vehicle (UAV) is concerned to solve such problems as smaller payload capacity, lack of both hardware redundancy and anti-crosswind capability for quad-rotor. Considering the under-actuated and strong coupling nonlinear system with external disturbance and parameter uncertainty properties of the hexarotor UAV, a nested double-loops trajectory tracking control strategy is proposed. A position error PID controller is designed as the outer-loop controller, of which the task is to compare the desired trajectory with real position of the hexarotor UAV and export the desired attitude angles to the inner-loop. And, an adaptive commandfiltered backstepping controller is designed as the inner-loop controller which makes use of parameter update laws to estimate the disturbances of the hexarotor UAV. The simulation results show that the proposed control strategy enhances the trajectory tracking performance by controlling the external disturbance and parameter uncertainty.

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Command Filtered Backstepping

Cited by 977 publications

References 19 publications

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Command filtered back-stepping missile integrated guidance and autopilot based on extended state observer

Adaptive Command Filtered Backstepping Trajectory Tracking Control of Hexarotor UAV

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