Integrator Backstepping using Barrier Functions for Systems with Multiple State Constraints

The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved b...

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Bibliographic Details
Published inProceedings of the 44th IEEE Conference on Decision and Control pp. 8306 - 8312
Main Authors Ngo, K.B., Mahony, R., Zhong-Ping Jiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Aerodynamics
Aircraft
Backstepping
Control design
Control nonlinearities
Control systems
Lyapunov method
Nonlinear control systems
Shape control
State feedback
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Summary:The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.
ISBN:9780780395671
0780395670
ISSN:0191-2216
DOI:10.1109/CDC.2005.1583507