DocumentCode
3266491
Title
Backstepping control of a rigid body
Author
Glad, S. Torkel ; Härkegård, Ola
Author_Institution
Dept. of Electr. Eng., Linkoping Univ., Sweden
Volume
4
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
3944
Abstract
A method for backstepping control of rigid body motion is proposed. The control variables are torques and the force along the axis of motion. The proposed control law and Lyapunov function guarantee asymptotic stability from all initial values except one singular point.
Keywords
Lyapunov methods; asymptotic stability; force control; motion control; nonlinear control systems; torque control; velocity control; Lyapunov function; asymptotic stability; backstepping control; control law; force control; nonlinear control; rigid body motion; singular point; torque control; velocity control; Aerodynamics; Aircraft; Angular velocity; Backstepping; Equations; Force control; Lyapunov method; Motion control; Vehicle dynamics; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184982
Filename
1184982
Link To Document