Backstepping control of multi-input non-linear systems

• Published in: IET control theory & applications Vol. 7; no. 14; pp. 1773 - 1779
• Main Authors: Chung, Chien-Wen, Chang, Yaote
• Format: Journal Article
• Language: English
• Published: Stevenage The Institution of Engineering and Technology 01.09.2013; John Wiley & Sons, Inc
• Subjects: Asymptotic properties; asymptotic stability; asymptotical stability; block backstepping controller; Blocking; constant gains; Control; control system synthesis; Control systems; control‐moment‐gyro devices control; Dynamical systems; Gain; gyroscopes; Lyapunov methods; Lyapunov stability theorem; Methodology; MIMO systems; mismatched perturbations; multiinput nonlinear perturbed systems; nonlinear control systems; perturbation techniques; regulation problem; Stability; virtual input controllers; perturbation techniques; regulation problem; virtual input controllers; control system synthesis; asymptotical stability; asymptotic stability; gyroscopes; mismatched perturbations; Lyapunov stability theorem; MIMO systems; control-moment-gyro devices control; block backstepping controller; nonlinear control systems; multiinput nonlinear perturbed systems; constant gains; Lyapunov methods
• ISSN: 1751-8644; 1751-8652; 1751-8652
• DOI: 10.1049/iet-cta.2012.0529

A methodology of designing the block backstepping controller for a class of multi-input non-linear perturbed systems is proposed to solve the regulation problem in accordance with the Lyapunov stability theorem. The designed constant gains, which are embedded in the virtual input controllers, can effectively overcome more general mismatched perturbations than some works can. Furthermore, the asymptotical stability can be achieved by the proposed controller. Finally, an example of controlling the control-moment-gyro devices is used to demonstrate the feasibility of the proposed methodology.