Dynamic backstepping control for pure-feedback non-linear systems

DOI10.1093/IMAMCI/DNZ019MaRDI QIDQ5114353zbMATH OpenOpenAlexFDO

Authors Sheng Zhang, En-Mi Yong, Yu Zhou, Wei-Qi Qian

Publication date 22 June 2020

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1706.08641

zbMATH Keywords

backstepping controldynamic root-findingimplicit algebraic equationlocal input-to-state stabilitypure-feedback system

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Control/observation systems governed by partial differential equations (93C20) Input-output approaches in control theory (93D25)

Abstract: A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this method is to augment the (virtual) controls as states during each recursive step. As new dynamics are included in the design, the resulting controller is in the dynamic feedback form. Procedure of deriving the controller is detailed, and one more Lyapunov design is executed in each step compared with the traditional backstepping method. Under appropriate assumptions, the proposed control scheme achieves the uniformly asymptotically stability. The effectiveness of this method is illustrated by the stabilization and tracking numerical examples.

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(14)

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