Abstract
We show that the Lyapunov function used in backstepping feedback designs for uncertain nonlinear systems leads to unnecessarily 'hard' control laws having undesirable high-gain properties. We present a new Lyapunov function and use it to design 'softer' control laws which exhibit the high-gain properties to a much lesser extent. We show that the 'soft' designs eliminate the chattering exhibited by the 'hard' designs and achieve the same or better performance with less control effort.
Original language | English (US) |
---|---|
Pages (from-to) | 1425-1437 |
Number of pages | 13 |
Journal | Automatica |
Volume | 29 |
Issue number | 6 |
DOIs | |
State | Published - Nov 1993 |
Keywords
- Backstepping
- mismatched uncertainties
- nonlinear systems
- robust control
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering