Backstepping for nonsmooth systems (Q1398407)

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Backstepping for nonsmooth systems
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    Backstepping for nonsmooth systems (English)
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    29 July 2003
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    The paper presents a smooth version of the backstepping stabilization method. More precisely, the authors consider the system \[ \begin{cases} \dot\eta= f(\eta)+ g(\eta)\xi\\\;\xi=u \end{cases} \] under the assumption that the first subsystem is stabilized by a possibly discontinuous feedback \(\xi=\varphi (\eta)\) (the solutions of the closed-loop system are intended in Filippov's sense). Making use of the Clarke generalized directional derivative, they provide an explicit expression for a stabilizer \(u=\psi (\eta,\xi)\) of the overall system. As illustrative examples, they discuss the case of a mobile robot and the case of the electronic throttle control.
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    Filippov solution
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    backstepping
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    nonholonomic systems
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    nonsmooth differential equations
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    discontinuous control
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    Clarke generalized directional derivative
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    mobile robot
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    electronic throttle control
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