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Integrator Backstepping Design for Motion Systems with Velocity Constraint

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Date

2004

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 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.

Description

Keywords

Keywords: Constraint theory; Control equipment; Lyapunov methods; Mathematical models; Nonlinear control systems; Problem solving; Real time systems; Runge Kutta methods; Velocity measurement; Backstepping technique; Lyapunov synthesis; Motion systems; Velocity con

Citation

URI

http://hdl.handle.net/1885/77477

Collections

ANU Research Publications

Source

Proceedings of the 5th Asian Control Conference

Type

Conference paper

Book Title

Entity type

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DOI

Restricted until

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