DocumentCode :
1813326
Title :
Robustification of backstepping against input unmodeled dynamics
Author :
Arcak, Murat ; Seron, Maria ; Braslavsky, Julio ; Kokotovic, P.
Author_Institution :
Center for Control Eng. & Comput., California Univ., Santa Barbara, CA, USA
Volume :
3
fYear :
1999
fDate :
1999
Firstpage :
2495
Abstract :
We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. In the second redesign we simplify the passivation redesign which becomes cumbersome for high order systems. We also review the two main versions of backstepping: cancellation and LGV-backstepping, and compare their stability margins
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; dynamics; robust control; Lyapunov function; asymptotic stability; backstepping control; dynamic uncertainty; high order systems; passivation; robust control; stability margins; Backstepping; Control engineering; Control systems; Error correction; Lyapunov method; Passivation; Robust control; Robust stability; Robustness; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
ISSN :
0191-2216
Print_ISBN :
0-7803-5250-5
Type :
conf
DOI :
10.1109/CDC.1999.831302
Filename :
831302
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=1813326
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