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Integrator Backstepping Design for Motion Systems with Velocity Constraint

Ngo, Khoi; Mahony, Robert; Jiang, Zheng Yi


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.

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
Source: Proceedings of the 5th Asian Control Conference


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