The use of linear filtering to simplify integrator backstepping control of nonlinear systems Conference Paper

abstract

• A method is proposed for designing stable controllers with arbitrarily small tracking errors for uncertain mismatched nonlinear systems. This method utilizes the "integrator backstepping" approach but with an important addition, /spl gamma/-1 low pass linear filters, where /spl gamma/ is the relative degree of the output to be controlled. It is shown that these low pass filters allow a design where the model and model error bounds are not differentiated. This method is applied to both Lipschitz and nonLipschitz nonlinearities. The nonLipschitz case requires the use of signum functions and is illustrated with a numerical example.

name of conference

• Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -

authors

• Darbha, Swaroop

published proceedings

• 1996 IEEE INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS - VSS '96, PROCEEDINGS

author list (cited authors)

• Yip, P. P., Hedrick, J. K., & Swaroop, D.

citation count

• 15

complete list of authors

• Yip, PP||Hedrick, JK||Swaroop, D

publication date

• January 1996

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics And Robotics
• 49 Mathematical Sciences
• 4901 Applied Mathematics

Digital Object Identifier (DOI)

• 10.1109/VSS.1996.578621

International Standard Book Number (ISBN) 10

• 0-7803-3718-2

start page

• 211

end page

• 215

URL

• http://dx.doi.org/10.1109/vss.1996.578621