An Equivalent Form of a Class of High-Order Fully Actuated Systems

Previous works demonstrate the simplicity and convenience of the fully actuated system approach in designing a general controller. However, the replaced variables in the fully actuated system often need an extra calculation, increasing the calculation and simulation complexity in some situations. Thus, this paper proposes an equivalent form of a class of high-order fully actuated systems. The basic deduction procedure of the equivalent form is presented via a typical first-order strict-feedback nonlinear system, and a controller is designed based on the derived form. Like the first-order system, the equivalent forms of a second-order and a high-order strict-feedback system are given directly. An attitude control simulation of rigid spacecraft is presented, indicating the validity and advantage of the proposed form.