Title :
Backstepping based all states trajectories tracking for strict-feedback systems
Author :
Youxin, Liu ; Chunhua, Cheng ; Xinwei, Liu
Author_Institution :
Naval Aeronaut. Eng. Acad. Qingdao Branch, Qingdao, China
Abstract :
In this letter, we address all states trajectories tracking problem, in which the reference trajectories can be selected arbitrarily. Moreover, the relation between the amounts of reference trajectories and that of states is analyzed. Then, based on backstepping method, we offer the systematic procedure for designing proper controllers for strict feedback form nonlinear systems with all states available. The advantage of this approach is that global exponential tracking is achieved. Moreover it can quickly track any reference trajectory. Simulation results are provided to validate the effectiveness of the approach.
Keywords :
control system synthesis; feedback; nonlinear control systems; trajectory control; backstepping based all states trajectories tracking; controller design; global exponential tracking; reference trajectories; strict feedback form nonlinear systems; systematic procedure; Aircraft; Backstepping; Lyapunov methods; Marine vehicles; Mobile robots; Trajectory; All state tracking; Backstepping; Strict feedback; Trajectory stabilization;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6283407