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New Bounded Backstepping Control Designs for Time-Varying Systems under Converging Input Converging State Conditions

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Abstract

— We provide new globally stabilizing backstepping controls for single input systems in a partially linear form. Instead of measuring the full state, our feedbacks use current and several time lagged values of a function of the state of the nonlinear subsystem, and have no distributed terms. Other possible advantages are that we do not require differentiability of the available nominal controls for the nonlinear subsystems, and that our controls do not contain Lie derivatives. We also allow input delays. This improves on our earlier work on the special case where the linear part has one integrator, since we now allow an arbitrary number of integrators.
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Dates and versions

hal-01389868 , version 1 (30-10-2016)

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Frédéric Mazenc, Michael Malisoff, Jerome Weston. New Bounded Backstepping Control Designs for Time-Varying Systems under Converging Input Converging State Conditions. 55th IEEE Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. ⟨10.1109/cdc.2016.7798744⟩. ⟨hal-01389868⟩
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