Title :
Integrator backstepping design for motion systems with velocity constraint
Author :
Ngo, K.B. ; Mahony, Robert ; Jiang, Zhong-Ping
Author_Institution :
Fac. of Eng. & IT, Australian Nat. Univ., Acton, ACT, Australia
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.
Keywords :
Lyapunov methods; control system synthesis; motion control; nonlinear control systems; stability; control Lyapunov function; dynamic motion system; integrator backstepping design; physical limitation; stabilising controller; velocity constraint; Aerodynamics; Aerospace control; Aircraft; Backstepping; Control design; Control system synthesis; Control systems; Elevators; Nonlinear control systems; Shape control;
Conference_Titel :
Control Conference, 2004. 5th Asian
Print_ISBN :
0-7803-8873-9
