Robustification of backstepping against input unmodeled dynamics
نویسندگان
چکیده
We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a CLF obtained by backstepping. The second redesign is a simplification of the first, useful for high order systems. We also compare the stability margins of the two main versions of backstepping: cancelation and LGV -backstepping. Keywords— Robust stabilization, unmodeled dynamics, backstepping.
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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 45 شماره
صفحات -
تاریخ انتشار 2000