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Backstepping for nonsmooth systems

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dc.contributor.author Tanner, HG en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T01:18:43Z
dc.date.available 2014-03-01T01:18:43Z
dc.date.issued 2003 en
dc.identifier.issn 0005-1098 en
dc.identifier.uri http://hdl.handle.net/123456789/15163
dc.subject Backstepping en
dc.subject Discontinuous control en
dc.subject Nonholonomic systems en
dc.subject Nonsmooth differential equations en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Engineering, Electrical & Electronic en
dc.subject.other Asymptotic stability en
dc.subject.other Convergence of numerical methods en
dc.subject.other Differential equations en
dc.subject.other Interference suppression en
dc.subject.other Lyapunov methods en
dc.subject.other Robustness (control systems) en
dc.subject.other Nonsmooth systems en
dc.subject.other Nonlinear control systems en
dc.title Backstepping for nonsmooth systems en
heal.type journalArticle en
heal.identifier.primary 10.1016/S0005-1098(03)00081-5 en
heal.identifier.secondary http://dx.doi.org/10.1016/S0005-1098(03)00081-5 en
heal.language English en
heal.publicationDate 2003 en
heal.abstract The paper presents a constructive control design for integrator backstepping in nonsmooth systems. The approach is based on non smooth analysis and Lyapunov stability for nonsmooth systems and is similar in spirit with the robust control designs that have appeared in literature, but is applicable to a larger class of systems. The backstepping controller is first applied to the case of a unicycle driven by a new discontinuous kinematic controller yielding global asymptotic convergence with bounded inputs. Then it is used to implement a sliding mode controller in a hybrid system. Simulations results not only verify the convergence properties but also reveal the ability of the new backstepping controller to suppress chattering. (C) 2003 Elsevier Science Ltd. All rights reserved. en
heal.publisher PERGAMON-ELSEVIER SCIENCE LTD en
heal.journalName Automatica en
dc.identifier.doi 10.1016/S0005-1098(03)00081-5 en
dc.identifier.isi ISI:000183376400014 en
dc.identifier.volume 39 en
dc.identifier.issue 7 en
dc.identifier.spage 1259 en
dc.identifier.epage 1265 en


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