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Integrator Backstepping using Barrier Function for Systems with Multiple State Constraints

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dc.contributor.authorNgo, Khoi
dc.contributor.authorMahony, Robert
dc.contributor.authorJiang, Zheng Yi
dc.coverage.spatialSeville Spain
dc.date.accessioned2015-12-13T22:43:17Z
dc.date.available2015-12-13T22:43:17Z
dc.date.createdDecember 12-15 2005
dc.date.issued2005
dc.date.updated2015-12-11T10:11:33Z
dc.description.abstractThe 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.
dc.identifier.isbn0780395689
dc.identifier.urihttp://hdl.handle.net/1885/79137
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Conference on Decision and Control, and the European Control Conference 2005
dc.sourceProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005
dc.source.urihttp://www.esi2.us.es/~cdcecc05/
dc.subjectKeywords: Constraint theory; Control theory; Functions; Lyapunov methods; Problem solving; Signal processing; Barrier functions; Control design; Integrator backstepping; Multiple state constraints; Nonlinear control systems
dc.titleIntegrator Backstepping using Barrier Function for Systems with Multiple State Constraints
dc.typeConference paper
local.bibliographicCitation.lastpage8312
local.bibliographicCitation.startpage8306
local.contributor.affiliationNgo, Khoi, College of Engineering and Computer Science, ANU
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationJiang, Zheng Yi, University of Wollongong
local.contributor.authoruidNgo, Khoi, u4039246
local.contributor.authoruidMahony, Robert, u4033888
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor091302 - Automation and Control Engineering
local.identifier.ariespublicationMigratedxPub7648
local.identifier.doi10.1109/CDC.2005.1583507
local.identifier.scopusID2-s2.0-33847182104
local.type.statusPublished Version

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