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Command Filtered Backstepping
Abstract
Implementation of backstepping becomes increasingly complex as the order of the system increases. This increasing complexity is mainly driven by the need to compute command derivatives at each step of the design, with the ultimate step requiring derivatives of the same order as the plant. This article addresses a modification that obviates the need to compute analytic derivatives by introducing command filters in the backstepping design. While the concept of the command filter has previously been introduced in the literature, the main contribution of this technical note is the rigorous analysis of the effect of the command filter on closed-loop stability and performance, and a proof of stability based on Tikhonov's theorem. The implementation approach includes a compensated tracking error that retains the standard stability properties of backstepping approaches.
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Citations
Cited by
Adaptive Command-Filtered Backstepping Control of Robot Arms With Compliant Actuators
Pan, Y., Wang, H., Li, X., & Yu, H. (2018) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2017.2695600 · Cited by 210
Song, X., Sun, P., Song, S., & Stojanovic, V. (2023) · Neural Computing and Applications · doi:10.1007/s00521-023-08361-y · Cited by 119
Niu, S., Wang, J., Zhao, J., & Shen, W. (2024) · ISA Transactions · doi:10.1016/j.isatra.2023.10.017 · Cited by 54
Yang, G., Wang, H., Chen, J., & Zhang, H. (2020) · Nonlinear Dynamics · doi:10.1007/s11071-020-05921-y · Cited by 27
Zhu, J., & Li, S. (2024) · Journal of the Franklin Institute · doi:10.1016/j.jfranklin.2024.01.034 · Cited by 11
Qi, X., Xu, S., & Liu, W. (2025) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2025.3582854 · Cited by 7
Metadata
- Authors
- Farrell, J. A., Polycarpou, M., Sharma, M., & Dong, W.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2009-06
- Volume
- 54
- Issue
- 6
- Pages
- 1391-1395
- ISSN
- 0018-9286 (ISSN-L)
- 1558-2523
- OpenAlex
- W2175091750
- Cited by
- 1,257
- References
- 0
- FWCI
- 13.37
- Type
- journal article
- Language
- en
- Open access
- closed
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