FLEXIBLE BACKSTEPPING DESIGN FOR TRACKING AND DISTURBANCE ATTENUATION

Authors
ZHAO JX KANELLAKOPOULOS I
Citation
Jx. Zhao et I. Kanellakopoulos, FLEXIBLE BACKSTEPPING DESIGN FOR TRACKING AND DISTURBANCE ATTENUATION, International journal of robust and nonlinear control, 8(4-5), 1998, pp. 331-348
Citations number
7
Categorie Soggetti
Mathematics,"Robotics & Automatic Control",Mathematics,"Engineering, Eletrical & Electronic","Robotics & Automatic Control
Journal title
International journal of robust and nonlinear control → ACNP
ISSN journal
10498923
Volume
8
Issue
4-5
Year of publication
1998
Pages
331 - 348
Database
ISI
SICI code
1049-8923(1998)8:4-5<331:FBDFTA>2.0.ZU;2-H
Abstract
In this paper we consider the benchmark nonlinear control problem and use backstepping to design several active controllers for tracking and disturbance attenuation; these two problems are much more challenging than stabilization. We show that the significant flexibility of backs tepping can be exploited to reduce the required control effort and to eliminate the winding problem. (C) 1998 John Wiley & Sons, Ltd.