Design of an Intelligent Global Terminal Backsteping Controller for a Class of Constrained Input Systems

Abstract

A new intelligent global terminal backsteping design method is proposed for a class of constrained input systems. It has several advantages as the following. Firstly, the differential bomb problem is avoided because of the no time derivative design concept. So the control law is simplified and the system becomes more stable and robust. Secondly, a quantitative analysis about the convergence time of each step is discussed by adopting the global terminal control rule based on the popular backstepping design method. At last, the high gain problem and input saturation problem are solved successfully by adopting the soft function and intelligent rule of regulation for parameters of controller. The control law intelligently regulate the convergence time to make the control as small as possible to avoid the saturation of input. So the method is meaningful because it is able to solve the constrained input problem, differential bomb problem and high gain feedback problem successfully. And the numerical simulation shows the effectiveness of this proposed method