Title :
Integrator backstepping for rounded controls and control rates
Author :
Freeman, Randy ; Praly, Laurent
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
fDate :
2/1/1998 12:00:00 AM
Abstract :
We present a backstepping procedure for the design of globally stabilizing state feedback control laws such that the magnitudes of the control signals and their derivatives are bounded by constants which do not depend on the initial conditions. We accomplish this by propagating such boundedness properties through each step of the recursive design
Keywords :
Lyapunov methods; asymptotic stability; nonlinear systems; robust control; state feedback; Lyapunov function; asymptotic stability; integrator backstepping; nonlinear systems; recursive design; robust control; state feedback; Actuators; Automatic control; Backstepping; Control systems; Linear algebra; Nonlinear control systems; Nonlinear systems; Sampling methods; Signal design; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
