INTEGRATOR BACKSTEPPING FOR BOUNDED CONTROLS AND CONTROL RATES

Authors
FREEMAN R PRALY L
Citation
R. Freeman et L. Praly, INTEGRATOR BACKSTEPPING FOR BOUNDED CONTROLS AND CONTROL RATES, IEEE transactions on automatic control, 43(2), 1998, pp. 258-262
Citations number
7
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
43
Issue
2
Year of publication
1998
Pages
258 - 262
Database
ISI
SICI code
0018-9286(1998)43:2<258:IBFBCA>2.0.ZU;2-X
Abstract
We present a backstepping procedure for the design of globally stabili zing state feedback control laws such that the magnitudes of the contr ol signals and their derivatives are bounded by constants which do not depend on the initial conditions. We accomplish this by propagating s uch boundedness properties through each step of the recursive design.