Backstepping for nonsmooth systems

Tanner, HG; Kyriakopoulos, KJ

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	https://dspace.lib.ntua.gr/xmlui/handle/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