Integrator Backstepping using Barrier Function for Systems with Multiple State Constraints
Date
2005
Authors
Ngo, Khoi
Mahony, Robert
Jiang, Zheng Yi
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.
Description
Keywords
Keywords: Constraint theory; Control theory; Functions; Lyapunov methods; Problem solving; Signal processing; Barrier functions; Control design; Integrator backstepping; Multiple state constraints; Nonlinear control systems
Citation
Collections
Source
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005
Type
Conference paper