To reduce initial control magnitude in backstepping: A continuous predictive approach

In this paper, a novel backstepping control algorithm is proposed by adopting the nonlinear continuous predictive approach. An optimization performance index containing the weighted tracking error and control input is introduced to obtain the actual control law. By adjusting the weighting matrix, the control magnitude in the initial stage can be reduced. In addition, when the weighting matrix imposing on input vector vanishes, the control law just coincides with the traditional backstepping control law. The proposed approach is further applied to the control of aircrafts. The simulation results show the effectiveness and advantage of our method.