Backstepping for nonsmooth systems

Herbert G. Tanner, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


The paper presents a constructive control design for integrator backstepping in nonsmooth systems. The approach is based on non smooth analysis and Lyapunov stability for nonsmooth systems and is similar in spirit with the robust control designs that have appeared in literature, but is applicable to a larger class of systems. The backstepping controller is first applied to the case of a unicycle driven by a new discontinuous kinematic controller yielding global asymptotic convergence with bounded inputs. Then it is used to implement a sliding mode controller in a hybrid system. Simulations results not only verify the convergence properties but also reveal the ability of the new backstepping controller to suppress chattering.

Original languageEnglish (US)
Pages (from-to)1259-1265
Number of pages7
Issue number7
StatePublished - Jul 2003


  • Backstepping
  • Discontinuous control
  • Nonholonomic systems
  • Nonsmooth differential equations

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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