Integrator Backstepping Design for Motion Systems with Velocity Constraint
Ngo, Khoi; Mahony, Robert; Jiang, Zheng Yi
Description
The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.
Collections | ANU Research Publications |
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Date published: | 2004 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/77477 |
Source: | Proceedings of the 5th Asian Control Conference |
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