Backstepping-based prescribed-time control for fully actuated cascaded strict-feedback nonlinear systems

doi:10.11772/j.issn.1001-9081.2025050650

Journal of Computer Applications ›› 2026, Vol. 46 ›› Issue (6): 1931-1935.DOI: 10.11772/j.issn.1001-9081.2025050650

• Advanced computing • Previous Articles

Backstepping-based prescribed-time control for fully actuated cascaded strict-feedback nonlinear systems

Ruicheng ZHANG¹, Litong ZHOU¹, Yinzhou MA², Weizheng LIANG¹()

^1.College of Electrical Engineering，North China University of Science and Technology，Tangshan Hebei 063210，China
^2.Huazhong Branch of China Oil and Gas Piping Network Corporation，Wuhan Hubei 430023，China

Received:2025-06-13 Revised:2025-07-15 Accepted:2025-07-22 Online:2025-08-01 Published:2026-06-10
Contact: Weizheng LIANG
About author:ZHANG Ruicheng， born in 1975， Ph. D.， professor. His research interests include nonlinear control and analysis， fault diagnosis.
ZHOU Litong， born in 2001， M. S. His research interests include nonlinear control， adaptive control.
MA Yinzhou， born in 1986， M. S.， engineer. His research interests include automatic control system operation and maintenance.
First author contact:LIANG Weizheng， born in 1982， M. S.， associate professor. Her research interests include complex system modelling， optimization and control.
Supported by:
Tangshan Talent Funding Project(B202302009);Science and Technology Program Project of Tangshan Science and Technology Bureau(22130213G);Key Research Project of North China University of Science and Technology in 2023(ZD-ST-202302-23);Graduate Student Innovation Project of North China University of Science and Technology(2025S01)

基于Backstepping的全驱动级联严格反馈非线性系统的规定时间控制

张瑞成¹, 周立桐¹, 马寅洲², 梁卫征¹()

^1.华北理工大学电气工程学院，河北唐山 063210
^2.国家石油天然气管网集团有限公司华中分公司，武汉 430023

通讯作者: 梁卫征
作者简介:张瑞成（1975—），男，河北唐山人，教授，博士，主要研究方向：非线性控制与分析、故障诊断
周立桐（2001—），男，河北唐山人，硕士，主要研究方向：非线性控制、自适应控制
马寅洲（1986—），男，河北张家口人，工程师，硕士，主要研究方向：自动控制系统的运行与维护
第一联系人：梁卫征（1982—），女，河北唐山人，副教授，硕士，主要研究方向：复杂系统的建模、优化与控制。
基金资助:
唐山市人才资助项目(B202302009);唐山市科技局科技计划项目(22130213G);2023年度华北理工大学重点科研项目(ZD-ST-202302-23);华北理工大学研究生创新项目(2025S01)

Abstract

Abstract:

The prescribed?time control of fully actuated cascaded strict-feedback nonlinear systems has hardly been explored， though such systems are widely applied in the fields such as missile guidance， missile interception， and spacecraft attitude control. Therefore， a prescribed?time controller design method based on Backstepping control strategy was proposed. In the method， backstepping concept and non?scaling design method were combined， which means not scaling the system states， virtual control laws were designed directly to construct the controller. The stability of the designed controller was demonstrated through proof by contradiction via analysis of the time derivative of the system’s Lyapunov function， ensuring that all system states converged asymptotically to zero within the specified time. The time is independent of initial conditions and can be set freely within physical limits. Numerical simulation results verify the effectiveness and practicality of the proposed controller.

Key words: Backstepping control, strict-feedback nonlinear system, prescribed-time stable, non-scaling method, virtual control law

摘要：

针对全驱动级联严格反馈非线性系统的规定时间控制问题，目前尚未无相关深入研究，而此类系统广泛应用于导弹制导、导弹拦截和航天器姿态控制等领域。为此，提出一种基于Backstepping控制策略的规定时间控制器设计方法。该方法结合反推思想和非缩放设计方法，即不缩放系统状态，并直接设计虚拟控制律来构造控制器；通过系统Lyapunov函数的变化率分析，采用反证法证明所设计控制器的稳定性，从而确保系统的所有状态在规定时间内收敛至零。该规定时间与系统的初始条件完全无关，并可根据实际需求在物理限制范围内灵活设定。仿真实例结果验证了所提控制器的有效性和适用性。

关键词: Backstepping控制, 严格反馈非线性系统, 规定时间稳定, 非缩放方法, 虚拟控制律

CLC Number:

TP13

Ruicheng ZHANG, Litong ZHOU, Yinzhou MA, Weizheng LIANG. Backstepping-based prescribed-time control for fully actuated cascaded strict-feedback nonlinear systems[J]. Journal of Computer Applications, 2026, 46(6): 1931-1935.

张瑞成, 周立桐, 马寅洲, 梁卫征. 基于Backstepping的全驱动级联严格反馈非线性系统的规定时间控制[J]. 《计算机应用》唯一官方网站, 2026, 46(6): 1931-1935.

Figures/Tables 4

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Backstepping-based prescribed-time control for fully actuated cascaded strict-feedback nonlinear systems

基于Backstepping的全驱动级联严格反馈非线性系统的规定时间控制

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