Integrator backstepping design for motion systems with velocity constraint

Khoi B. Ngo, Robert Mahony, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.

Original languageEnglish (US)
Title of host publication2004 5th Asian Control Conference
Number of pages6
StatePublished - 2004
Event2004 5th Asian Control Conference - Melbourne, Australia
Duration: Jul 20 2004Jul 23 2004

Publication series

Name2004 5th Asian Control Conference


Other2004 5th Asian Control Conference

ASJC Scopus subject areas

  • Engineering(all)

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