Integrator Backstepping Design for Motion Systems with Velocity Constraint
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|
|Source:||Proceedings of the 5th Asian Control Conference|