The use of linear filtering to simplify integrator backstepping control of nonlinear systems

Author

Yip, P. Patrick ; Hedrick, J. Karl ; Swaroop, D.

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

fYear

1996

fDate

5-6 Dec 1996

Firstpage

211

Lastpage

215

Abstract

A method is proposed for designing stable controllers with arbitrarily small tracking errors for uncertain mismatched nonlinear systems. This method utilizes the “integrator backstepping” approach but with an important addition, γ-1 low pass linear filters, where γ is the relative degree of the output to be controlled. It is shown that these low pass filters allow a design where the model and model error bounds are not differentiated. This method is applied to both Lipschitz and nonLipschitz nonlinearities. The nonLipschitz case requires the use of signum functions and is illustrated with a numerical example

Keywords

control system synthesis; filtering theory; low-pass filters; nonlinear control systems; stability; uncertain systems; Lipschitz nonlinearities; integrator backstepping control; linear filtering; low-pass linear filters; nonLipschitz nonlinearities; nonlinear systems; signum functions; small tracking errors; stable controller design; uncertain mismatched nonlinear systems; Backstepping; Control system synthesis; Control systems; Linear feedback control systems; Low pass filters; Lyapunov method; Maximum likelihood detection; Nonlinear control systems; Nonlinear systems; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on

Conference_Location

Tokyo

Print_ISBN

0-7803-3718-2

Type

conf

DOI

10.1109/VSS.1996.578621

Filename

578621