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[] Union d’une commande par backstepping avec une commande locale

So the final feedback-stabilizing control law is. Let’s connect Contact Details Facebook Twitter. All mainstream modern browsers have cookies enabled by default, so if you’ve been directed to this page it probably means you’re backstepplng a weird and wonderful browser of your own choosing, or have disabled cookies yourself.

This process is known as backstepping because it starts with the requirements on some internal subsystem for stability and progressively steps back out of the system, maintaining stability at each step.

Views Read Edit View history. At iteration ithe equivalent system is. Systems in the special strict-feedback form have a recursive structure similar to the many-integrator system structure. This page was last edited on 12 Augustat We never store sensitive information about our customers in cookies. The backstepping approach provides a recursive method for stabilizing the origin of a system in strict-feedback form.


Backstepping – Wikipedia

Hence, any strict-feedback system can be feedback stabilized using a straightforward procedure that can even be automated e. A activation email has been sent to you. In commandee of this strict-feedback form around a stable x subsystem. Sometimes, we also use a cookie to keep track of your trolley contents. As in many-integrator backstepping, the single-step procedure can be completed iteratively to stabilize an entire strict-feedback system.

Hence, this process is known as backstepping. Nonlinear Systems 3rd ed.

Upper Saddle River, NJ: Persistent cookies are stored on your hard disk and have a pre-defined expiry date. Email address subscribed successfully. If the system ever reaches the origin, it will remain there forever after. Transient cookies are kept conmande RAM and are deleted either when you close all your browser windows, or when you reboot your computer. Retrieved from ” https: Before discussing the recursive procedure for the general multiple-integrator case, it is instructive to study the recursion present in the two-integrator case.

These systems connect a series of integrators to comnande input of a system with backshepping known feedback-stabilizing backsteppin law, and so the stabilizing approach is known as integrator backstepping. From Wikipedia, the free encyclopedia. Fortunately, due to the requirements on the functions in the strict-feedback form, each single-step system can be rendered by feedback to a single-integrator system, and that single-integrator system can be stabilized using methods discussed above.

Hence, the process “steps backward” from x out of the strict-feedback form system until the ultimate control u is designed. So it is critical to develop a single-step procedure; that procedure can be recursively applied to cover the many-step case. Because this strict-feedback system has a feedback-stabilizing control and a corresponding Lyapunov function, it can be cascaded as part of a larger strict-feedback system, and this procedure can be repeated to find the surrounding feedback-stabilizing bxckstepping.


This claim can be formally proved with mathematical induction.

Mathematics > Optimization and Control

In control theorybackstepping is a technique developed circa by Petar V. By using this site, you agree to the Terms of Use and Privacy Policy.

To access your account information you need to be authenticated, which means that you need to enter your password to confirm that you are indeed the person that the cookie claims you to be. In the two-integrator case, the upper single-integrator subsystem was stabilized yielding a new single-integrator system that commsnde be similarly stabilized. Kokotovic and others [1] [2] for designing stabilizing controls for a special class of pwr dynamical systems.

This system is a cascade connection of an integrator with the x subsystem i. That is, consider the dynamical system. When the expiry date is reached your computer deletes the cookie. Please click the link in that email to activate your subscription. Consider the simple strict-feedback system.

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