TY - GEN
T1 - Integrator backstepping using barrier functions for systems with multiple state constraints
AU - Ngo, Khoi B.
AU - Mahony, Robert
AU - Jiang, Zhong Ping
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33847182104&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33847182104&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1583507
DO - 10.1109/CDC.2005.1583507
M3 - Conference contribution
AN - SCOPUS:33847182104
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 8306
EP - 8312
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -