Generalized state-dependent scaling: Backstepping for local optimality, global inverse optimality, and global robust stability

Hiroshi Itot, Randy A. Freeman

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

Abstract

This paper addresses the inverse optimal robust control problem for uncertain nonlinear systems. A new version of robust backstepping is proposed in which inverse optimality is achieved through the selection of generalized state-dependent scaling factors. The design procedure is always successful for uncertain nonlinear systems in strict-feedback form. The class of cost functionals allowed in the inverse optimal design is such that the uncertainty structure and desired level of global robustness can be prescribed a priori. Furthermore, the inverse optimal control law can always be designed such that its linearization is identical to a linear optimal control law for the linearized system with respect to a prescribed cost functional.

Original languageEnglish (US)
Title of host publicationEuropean Control Conference, ECC 1999 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1669-1674
Number of pages6
ISBN (Electronic)9783952417355
DOIs
StatePublished - Mar 24 2015
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: Aug 31 1999Sep 3 1999

Publication series

NameEuropean Control Conference, ECC 1999 - Conference Proceedings

Other

Other1999 European Control Conference, ECC 1999
CountryGermany
CityKarlsruhe
Period8/31/999/3/99

Keywords

  • global robust stabilization
  • inverse optimal control
  • robust backstepping
  • state-dependent scaling

ASJC Scopus subject areas

  • Control and Systems Engineering

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