Nonlinear Control and Planning in Robotics Lecture 9 : Backstepping April
نویسنده
چکیده
Backstepping is a nonlinear control design tool for underactuated systems. Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. In backstepping the system is stabilized in stages by “closing the loop” recursively which enables nonlinearities to be exploited, e.g. if natural damping was present in the system. In addition, backstepping becomes more robust to uncertainties.
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