Integrator backstepping using barrier functions for systems with multiple state constraints

Khoi B. Ngo, Robert Mahony, Zhong Ping Jiang

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

Abstract

The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages8306-8312
Number of pages7
DOIs
StatePublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

ASJC Scopus subject areas

  • Engineering(all)

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