Title :
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
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;
Conference_Titel :
Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3718-2
DOI :
10.1109/VSS.1996.578621
