Integrator backstepping design for motion systems with velocity constraint

Khoi B. Ngo; Robert Mahony; Zhong Ping Jiang

Integrator backstepping design for motion systems with velocity constraint

Khoi B. Ngo^*
, Robert Mahony
, Zhong Ping Jiang

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › peer-review

42 Citations (Scopus)

Abstract

The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.

Original language	English
Title of host publication	2004 5th Asian Control Conference
Pages	141-146
Number of pages	6
Publication status	Published - 2004
Event	2004 5th Asian Control Conference - Melbourne, Australia Duration: 20 Jul 2004 → 23 Jul 2004

Publication series

Name	2004 5th Asian Control Conference
Volume	1

Conference

Conference	2004 5th Asian Control Conference
Country/Territory	Australia
City	Melbourne
Period	20/07/04 → 23/07/04

Cite this

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title = "Integrator backstepping design for motion systems with velocity constraint",

abstract = "The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.",

author = "Ngo, \{Khoi B.\} and Robert Mahony and Jiang, \{Zhong Ping\}",

year = "2004",

language = "English",

isbn = "0780388739",

series = "2004 5th Asian Control Conference",

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note = "2004 5th Asian Control Conference ; Conference date: 20-07-2004 Through 23-07-2004",

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TY - GEN

T1 - Integrator backstepping design for motion systems with velocity constraint

AU - Ngo, Khoi B.

AU - Mahony, Robert

AU - Jiang, Zhong Ping

PY - 2004

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N2 - The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.

AB - The stabilisation of dynamic motion systems with velocity constraint due to performance and/or physical limitations is presented. The stabilising controller is obtained using the backstepping technique. The design procedure involves shaping the Control Lyapunov Function, and propagating hard-bounds imposed on the pertinent stabilising function and associated error signal through the steps of the backstepping control design framework.

UR - https://www.scopus.com/pages/publications/16244405288

M3 - Conference Paper

SN - 0780388739

T3 - 2004 5th Asian Control Conference

SP - 141

EP - 146

BT - 2004 5th Asian Control Conference

T2 - 2004 5th Asian Control Conference

Y2 - 20 July 2004 through 23 July 2004

ER -

Integrator backstepping design for motion systems with velocity constraint

Abstract

Publication series

Conference

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