Topic
Backstepping
About: Backstepping is a research topic. Over the lifetime, 13305 publications have been published within this topic receiving 264166 citations.
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Book•
01 Jan 1995
TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
Abstract: From the Publisher:
Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.
6,923 citations
2,208 citations
TL;DR: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice.
Abstract: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form. This method is another "synthetic input technique," similar to backstepping and multiple surface control methods, but with an important addition, /spl tau/-1 low pass filters are included in the design where /spl tau/ is the relative degree of the output to be controlled. It is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice. The backstepping approach, while suffering from the problem of "explosion of terms" guarantees boundedness of tracking errors globally; however, the proposed approach, while being simpler to implement, can only guarantee boundedness of tracking error semiglobally, when the nonlinearities in the system are non-Lipschitz.
1,901 citations
Book•
27 Sep 2011TL;DR: In this article, the authors introduce the concept of passive design tools as a design tool for adaptive control and propose a cascade design with feedback passivation of Cascades and partial-state feedback.
Abstract: 1 Introduction -- 1.1 Passivity, Optimality, and Stability -- 1.2 Feedback Passivation -- 1.3 Cascade Designs -- 1.4 Lyapunov Constructions -- 1.5 Recursive Designs -- 1.6 Book Style and Notation -- 2 Passivity Concepts as Design Tools -- 2.1 Dissipativity and Passivity -- 2.2 Interconnections of Passive Systems -- 2.3 Lyapunov Stability and Passivity -- 2.4 Feedback Passivity -- 2.5 Summary -- 2.6 Notes and References -- 3 Stability Margins and Optimality -- 3.1 Stability Margins for Linear Systems -- 3.2 Input Uncertainties -- 3.3 Optimality, Stability, and Passivity -- 3.4 Stability Margins of Optimal Systems -- 3.5 Inverse Optimal Design -- 3.6 Summary -- 3.7 Notes and References -- 4 Cascade Designs -- 4.1 Cascade Systems -- 4.2 Partial-State Feedback Designs -- 4.3 Feedback Passivation of Cascades -- 4.4 Designs for the TORA System -- 4.5 Output Peaking: an Obstacle to Global Stabilization -- 4.6 Summary -- 4.7 Notes and References -- 5 Construction of Lyapunov functions -- 5.1 Composite Lyapunov functions for cascade systems -- 5.2 Lyapunov Construction with a Cross-Term -- 5.3 Relaxed Constructions -- 5.4 Stabilization of Augmented Cascades -- 5.5 Lyapunov functions for adaptive control -- 5.6 Summary -- 5.7 Notes and references -- 6 Recursive designs -- 6.1 Backstepping -- 6.2 Forwarding -- 6.3 Interlaced Systems -- 6.4 Summary and Perspectives -- 6.5 Notes and References -- A Basic geometric concepts -- A.1 Relative Degree -- A.2 Normal Form -- A.3 The Zero Dynamics -- A.4 Right-Invertibility -- A.5 Geometric properties -- B Proofs of Theorems 3.18 and 4.35 -- B.1 Proof of Theorem 3.18 -- B.2 Proof of Theorem 4.35.
1,848 citations
Book•
17 Feb 2008
TL;DR: The aim of this book is to provide a Discussion of the Foundations of Discrete-Time Optimal Nonlinear Feedback Control and its Applications in Dynamical Systems and Differential Equations, as well as some suggestions for further study.
Abstract: Conventions and Notation xv Preface xxi Chapter 1. Introduction 1 Chapter 2. Dynamical Systems and Differential Equations 9 Chapter 3. Stability Theory for Nonlinear Dynamical Systems 135 Chapter 4. Advanced Stability Theory 207 Chapter 5. Dissipativity Theory for Nonlinear Dynamical Systems 325 Chapter 6. Stability and Optimality of Feedback Dynamical Systems 411 Chapter 7. Input-Output Stability and Dissipativity 471 Chapter 8. Optimal Nonlinear Feedback Control 511 Chapter 9. Inverse Optimal Control and Integrator Backstepping 557 Chapter 10. Disturbance Rejection Control for Nonlinear Dynamical Systems 603 Chapter 11. Robust Control for Nonlinear Uncertain Systems 649 Chapter 12. Structured Parametric Uncertainty and Parameter-Dependent Lyapunov Functions 719 Chapter 13. Stability and Dissipativity Theory for Discrete-Time Nonlinear Dynamical Systems 763 Chapter 14. Discrete-Time Optimal Nonlinear Feedback Control 845 Bibliography 901 Index 939
1,134 citations