Advanced backstepping control based on ADR for non-affine non-strict feedback nonlinear systems

摘要

Few results are made on non-affine non-strict feedback nonlinear systems, which is a challenging problem in the control theory. In this paper, a novel control method based on an advanced backstepping and auto disturbance rejection is presented for a class of non-affine non-strict nonlinear feedback systems. The proposed advanced backstepping controller consists of differentiator and extended state observer, which are respectively used to approach the derivative of the virtual control and estimate the unknown part of the system. The framework of the proposed controller is both systematic and simple, and the assumptions have been relaxed. Moreover, the input to state stability analysis shows that the system states can asymptotically converge to an arbitrarily small region of equilibrium point. The simulation studies proved the effectiveness of the proposed design scheme.