Title :
Robustification of backstepping against input unmodeled dynamics
Author :
M. Arcak;M. Seron;J. Braslavsky;P. Kokotovic
Author_Institution :
Center for Control Eng. & Comput., California Univ., Santa Barbara, CA, USA
Abstract :
We present two redesigns to robustify backstepping control laws against dynamic uncertainties in the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. The second redesign is a simplification of the first, useful for high-order systems. We also compare the stability margins of the two main versions of backstepping: cancellation and L/sub G/V-backstepping.
Keywords :
"Robustness","Backstepping","Control systems","Lyapunov method","Passivation","Robust control","Uncertainty","Stability analysis","Asymptotic stability","Control engineering"
Journal_Title :
IEEE Transactions on Automatic Control
