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Flexible backstepping design for tracking and disturbance attenuation
Author(s) -
Zhao Jiaxiang,
Kanellakopoulos Ioannis
Publication year - 1998
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(19980415/30)8:4/5<331::aid-rnc358>3.0.co;2-a
Subject(s) - backstepping , benchmark (surveying) , control theory (sociology) , flexibility (engineering) , disturbance (geology) , attenuation , nonlinear system , tracking (education) , computer science , control engineering , control (management) , engineering , mathematics , artificial intelligence , adaptive control , physics , psychology , geology , paleontology , pedagogy , statistics , geodesy , quantum mechanics , optics
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 backstepping can be exploited to reduce the required control effort and to eliminate the winding problem. © 1998 John Wiley & Sons, Ltd.