A High-Order Fully Actuated-Based Backstepping Tracking Scheme of Underactuated Systems

作者：Yuxin Feng, Yang Liu, Zhaoshui He, Hongyi Li · 发表于：IEEE/CAA Journal of Automatica Sinica · 年份：2025 · DOI：10.1109/jas.2025.125174 · 被引用次数：2 · 研究领域：Adaptive Control of Nonlinear Systems、Control and Stability of Dynamical Systems、Control and Dynamics of Mobile Robots

A high-order fully actuated (HOFA) control method is developed for underactuated mechanical systems (UMSs) with model uncertainties and external disturbances. First, a model transformation is made from the original to a pseudo strict-feed-back form, and an HOFA model is established by using the method of variable elimination. Then, a group of high-order extended state observers (ESOs) are designed to deal with model uncertainties and external disturbances. The HOFA model is further classified and decomposed to achieve output constraints within a finite time range, and a barrier function is designed by combining with a shift function. Additionally, an ESO-based HOFA tracking control strategy for UMS is proposed. Finally, a manipulator model is used to verify the effectiveness of the proposed control strategy.