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A unification between nonlinear-nonquadratic optimal control and integrator backstepping

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20350

A unification between nonlinear-nonquadratic optimal control and integrator backstepping

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Title: A unification between nonlinear-nonquadratic optimal control and integrator backstepping
Author: Abdallah, Chaouki T.; Haddad, Wassim M.; Fausz, Jerry L.; Chellaboina, Vijaya-Sekhar
Subject: Backstepping
Control nonlinearities
Linear feedback control systems
Abstract: In this paper we develop an optimality-based framework for backstepping controllers. Specifically, using a nonlinear-nonquadratic optimal control framework we develop a family of globally stabilizing backstepping controllers parametrized by the cost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteeing closed-loop stability is a solution to the steady-state Hamilton-Jacobi-Bellman equation for the controlled system and thus guarantees both optimality and stability. The results are specialized to the case of integrator backstepping.
Date: 1997-12-10
Publisher: IEEE
Citation: Proceedings of the 36th IEEE Conference on Decision and Control, 1997, 2: 1741-1742
Description: Digital Object Identifier : 10.1109/CDC.1997.657808
URI: http://hdl.handle.net/1928/20350
ISBN: 0-7803-4187-2


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