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Volume 12 Issue 10
Oct.  2025

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2025  >  12(10): 2127-2137
Y. Feng, Y. Liu, Z. He, and H. Li, “A high-order fully actuated-based backstepping tracking scheme of underactuated systems,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 10, pp. 2127–2137, Oct. 2025. doi: 10.1109/JAS.2025.125174
Citation: Y. Feng, Y. Liu, Z. He, and H. Li, “A high-order fully actuated-based backstepping tracking scheme of underactuated systems,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 10, pp. 2127–2137, Oct. 2025. doi: 10.1109/JAS.2025.125174
shu

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

doi: 10.1109/JAS.2025.125174
Funds:  This work was supported in part by the National Natural Science Foundation of China (62373208, 62033003, 62273105, U191140), Taishan Scholar Program of Shandong Province of China (tsqn202306218), the National Key Research and Development Program of China (2022YFB4703100), and the National Natural Science Foundation of Shandong Province (ZR2024YQ032)
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    Abstract
  • 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-feedback 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.

     

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