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FALLSEM2023-24 MCOA501L TH VL2023240107323 2023-12-06 Reference-Material-I
FALLSEM2023-24 MCOA501L TH VL2023240107323 2023-12-06 Reference-Material-I
FALLSEM2023-24 MCOA501L TH VL2023240107323 2023-12-06 Reference-Material-I
14.3 Backstepping
We start with the special case of integrator backstepping. Consider the Svst
=
f7) +9(n)
(14.49
(14.50)
where In.T E RT+ is the state and u E R is the control input. The
f:D R" and g: D R" are smooth in a domain functions
0 and f(0) 0. We want to DcR" that contains
=
design a state feedback control law to stabilize the
origin (7 0, f 0). We assume that both and are
= =
ti
W(n) is posi nositive definite. By adding and subtracting g(7)6(7) on the right
e
where. n
o f(14.49),
of
we obtain the equivalent
representation
side
h a n d
is shown
Figure 14.15(b). The change of variables
which
z=6-d(7)
system
in the
results
=f7)+9(7)b(n)] +9(7)z
u-o
14.15(c). Going from Figure 14.15(b) Figure 14.15(c)
to
in Figure
hich isshown the integrator. Since f, g, and o
viewed as "backstepping" -¢n) through
ean be the expression
are known, the derivative o can be computed by using
)+9tm)k)
connection
reduces the system to the cascade
Taking v u - o
i n) +9(7)d(n)] +9(7):
9n)
(a) fn)
T g(n)
(b) -oln)
)+90))-
g)
-
c)
f)+9()o(O
0) is
hih sde that
de that the origin (n 0, = asy1nptotically stable. Sinee o(0)-0.
=
0) is
Co obtain the state feedback asymptotically stable. Substituting
e c o n c l
,
and d o,
o, we obtain
we
control law
4,
or
u
df)+g()¬) h7)-k{¢-d(7)] (14.52)
assumptions hold globally and V (7) is radially unbounded,
Fall the a s s u m p t i o n :
we can conclude
that
the origin is globally asymptotically stabke. We summarize our conclusions in
the next lemma.
Temma 14.2 Consider the system (14.49)-(14.50). Let d(n) be a stahilizing state
fedback control lawfor (14.49) with o(0) = 0, and V (n) be a Lyaprunov function that
satisfes (14.51) with some positive definite function W(7). Then, the state feedback
control law (14.52) stabzlizes the origin of (14.49)-(14.50), rith V(7) + [E-oln)"/2
asa Lyapunov function. Moreover, if all the assumptions hold globally and V (n) s
radially unbounded, the origin will be globally asynptotically stable.
Example 14.8 Consider the system
|1 -+
which takes
scalar system
control z2 o(z1)
and proceed to design the feedback
with z2 viewed as the input
to stabilize the origin z1 0. With =
t2=plz1) = -si - z
-z1 =
2Td(z1) = a2 t71tri
Exampkl3.19.)
nonlinear damping. (Sew
8 because it provides
do not cancel-#}
we
14.3. BACKSTEPPING
593
rj + 2)
g
Taking
we obtain
function,
as a composite Lyapunov
z2
yields
stable.
Hence, the origin is globally asymptotically A
Application of integrator backstepping in the preceding example is straightíor-
ward due to the simplicity of scalar designs. For higher order systens, we may retain
this simpicity via recursive application of integrator backstepping, as illustrated by
the next example.
i-ri+T2
C3
3
is composed of the second-order system of the previous example with an additional
integrator at the
input side. We proceed to apply integrator backstepping as n
previous example. After one step of tne
system backstepping, we know that the second-order
-+
=
and
73--(1+221)(#}-z+a) -
(z2 +1 +)o(1,72)
V(1,a)= }+zl#a+ +
CHAPTER 14. NONLINEAR
DESIGN TOOLS
correspon nonding Lyapunov function. To
backstep,
& the
we
apply the change of
va
ables
Z3 T3O(T1, t2)
o obtain
i=-zit2
i2 O(T1,T2) +z3
z3 u - i +za) (o+ zs)
Ve=V+/2 as a composite Lyapunov function, we obtain
Using
Ve -+z)+ 2 +0)
+3 u-(-7+z) - +
- - (2 +a1 +"
Ov +)+u
+ ( - ++7)-
Taking OV
( - +zo) +zs+o)- z3
yields
Ve--zi-(7a +z1+r -
A
asymptotically stable.
Hence, the origin is globally
the general system
from (14.49)(14.50) to
more
Let us move now
= f)+9n)E
(14.53)
fal7.8) + 9a(7,£)u
(14.54)
E =
the input
0 the domain of interest,
smooth. If ga(n, 5) over
where fa and ga are
transformation 1 (14.55)
Sa7,6)
if a stabilizing state feedback
ua. Therefore,
the conditions of
=
=de(7.¬) (14.56)
+o(n)1-ot)--dn))- J(n.¬0
18n)
f(n)
9.(76)