A unification between nonlinear-nonquadratic optimal control and integrator backstepping

Author

Haddad, Wassim M. ; Fausz, Jerry L. ; Chellaboina, Vijaya-Sekhar ; Abdallah, Chaouki T.

Author_Institution

Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

2

fYear

1997

fDate

10-12 Dec 1997

Firstpage

1741

Abstract

In this paper we develop an optimality-based framework for backstepping controllers. Specifically, using a nonlinear-nonquadratic optimal control framework we develop a family of globally stabilizing backstepping controllers parametrized by the cost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteeing closed-loop stability is a solution to the steady-state Hamilton-Jacobi-Bellman equation for the controlled system and thus guarantees both optimality and stability. The results are specialized to the case of integrator backstepping

Keywords

Lyapunov methods; cascade systems; closed loop systems; feedback; nonlinear control systems; optimal control; robust control; Hamilton-Jacobi-Bellman equation; Lyapunov function; cascade systems; closed-loop systems; feedback; global stabilization; integrator backstepping; nonlinear control systems; optimal control; stability; Backstepping; Control nonlinearities; Control systems; Linear feedback control systems; Lyapunov method; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657808

Filename

657808