Title :
Locally optimal and robust backstepping design for C1 vector fields
Author :
Kang, Sejin ; Back, Juhoon ; Shim, Hyungbo ; Seo, Jin H.
Author_Institution :
Seoul Nat. Univ., Seoul
Abstract :
A robust controller which is locally and globally optimal in some sense for a class of nonlinear systems with C1 vector fields is developed. The construction of such a controller is based on the robust backstepping method that provides a flexible design framework to dominate the nonlinearities of a given system.
Keywords :
control nonlinearities; control system synthesis; nonlinear control systems; optimal control; robust control; vectors; C1 vector fields; local optimal control; nonlinear systems; robust backstepping design; robust controller; system nonlinearities; Attenuation; Backstepping; Closed loop systems; Control nonlinearities; Control systems; Nonlinear control systems; Nonlinear systems; Optimal control; Robust control; Robustness; Robust backstepping; disturbance attenuation; inverse optimality; optimal control;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406700
