论文信息 - Integrator backstepping design for motion systems with velocity constraint

Integrator backstepping design for motion systems with velocity constraint

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.

[1] Ying Zhang,et al. Adaptive backstepping control design for systems with unknown high-frequency gain , 2000, IEEE Trans. Autom. Control..

[2] Sahjendra N. Singh,et al. Adaptive Control of Feedback Linearizable Nonlinear Systems With Application to Flight Control , 1996 .

[3] Zhengtao Ding. Adaptive control of triangular systems with nonlinear parameterization , 2001, IEEE Trans. Autom. Control..

[4] D. Mayne. Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[5] Randy A. Freeman,et al. Integrator backstepping for rounded controls and control rates , 1998, IEEE Trans. Autom. Control..

[6] Marc L. Steinberg,et al. Comparison of Intelligent, Adaptive, and Nonlinear Flight Control Laws , 1999 .

[7] Randy A. Freeman,et al. Robust Nonlinear Control Design , 1996 .

[8] Ola Härkegård,et al. Flight Control Design using Backstepping , 2001 .

[9] Zhong-Ping Jiang,et al. Design of Robust Adaptive Controllers for Nonlinear Systems with Dynamic Uncertainties , 1998, Autom..

[10] Maria M. Seron,et al. Robustification of backstepping against input unmodeled dynamics , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).