non-linear feedback

Exact Backstepping Control for Systems in Pure Feedback Form

Prof. Johann Reger, Computer Science and Automation Faculty, TU Ilmenau, Germany

Mar 29, 14:00 - 15:00

KAUST

Backstepping Lyapunov Theory non-linear feedback TU Ilmenau

Traditional backstepping approaches may struggle to asymptotically stabilize systems in pure feedback form, due to its inherent implicit equations. Approximation based designs only have a limited domain of validity and turn out sensitive to model uncertainty and disturbances. We propose a new design that circumvents the necessity of solving implicit algebraic equations by introducing new state variables. Additional augmentations to the backstepping Lyapunov design lead to explicit expressions for the associated differential equations. The result is a dynamic state feedback, capable of asymptotically stabilizing the origin of a general class of nonlinear systems, based on just standard assumptions.