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Bounded Backstepping Approach under Input Delays

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Abstract

We present a new backstepping result for control affine time-varying systems with input delays. The novelty of our work is in the bounds on the controls, and the facts that (i) one does not need to compute any Lie derivatives to apply our controls and (ii) the controls have no distributed terms.
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Dates and versions

hal-01202174 , version 1 (19-09-2015)

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Frédéric Mazenc, Michael Malisoff. Bounded Backstepping Approach under Input Delays. 14th annual European Control Conference - ECC 2015, Jul 2015, Linz, Austria. ⟨10.1109/ecc.2015.7330842⟩. ⟨hal-01202174⟩
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