Title :
Backstepping control of a rigid body
Author :
Glad, S. Torkel ; Härkegård, Ola
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
Abstract :
A method for backstepping control of rigid body motion is proposed. The control variables are torques and the force along the axis of motion. The proposed control law and Lyapunov function guarantee asymptotic stability from all initial values except one singular point.
Keywords :
Lyapunov methods; asymptotic stability; force control; motion control; nonlinear control systems; torque control; velocity control; Lyapunov function; asymptotic stability; backstepping control; control law; force control; nonlinear control; rigid body motion; singular point; torque control; velocity control; Aerodynamics; Aircraft; Angular velocity; Backstepping; Equations; Force control; Lyapunov method; Motion control; Vehicle dynamics; Weight control;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184982
