Control Design for a Class of Cascaded Nonlinear Systems: Backstepping vs Fully-Actuated System Approach

This paper deals with the control problem for a class of cascaded nonlinear systems holding a wide application. The nonlinear system is firstly given and analyzed. In what follows, the classical backstepping method and the Fully-actuated system approach are sequentially utilized to derive the nonlinear controllers. The controllers are then compared from the theoretical perspective and furthermore some advice is proposed for the future applications of the above two approaches.