Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
12-10-1997
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.
Publisher
IEEE
Publication Title
Proceedings of the 36th IEEE Conference on Decision and Control
ISSN
0-7803-4187-2
First Page
1741
Last Page
1742
DOI
10.1109/CDC.1997.657808
Language (ISO)
English
Sponsorship
IEEE
Keywords
Backstepping, Control nonlinearities, Linear feedback control systems
Recommended Citation
Abdallah, Chaouki T.; Wassim M. Haddad; Jerry L. Fausz; and Vijaya-Sekhar Chellaboina. "A unification between nonlinear-nonquadratic optimal control and integrator backstepping." Proceedings of the 36th IEEE Conference on Decision and Control (1997): 1741-1742. doi:10.1109/CDC.1997.657808.
