Integrator backstepping using barrier functions for systems with multiple state constraints

Khoi B. Ngo; Robert Mahony; Zhong Ping Jiang

doi:10.1109/CDC.2005.1583507

Integrator backstepping using barrier functions for systems with multiple state constraints

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

^*Corresponding author for this work

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

504 Citations (Scopus)

Abstract

The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.

Original language	English
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages	8306-8312
Number of pages	7
DOIs	https://doi.org/10.1109/CDC.2005.1583507
Publication status	Published - 2005
Event	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: 12 Dec 2005 → 15 Dec 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Conference

Conference	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/Territory	Spain
City	Seville
Period	12/12/05 → 15/12/05

Access to Document

10.1109/CDC.2005.1583507

Cite this

Ngo, K. B., Mahony, R., & Jiang, Z. P. (2005). Integrator backstepping using barrier functions for systems with multiple state constraints. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 8306-8312). Article 1583507 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1583507

Ngo, Khoi B. ; Mahony, Robert ; Jiang, Zhong Ping. / Integrator backstepping using barrier functions for systems with multiple state constraints. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. pp. 8306-8312 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05).

@inproceedings{d1f2fc396be64a78b6053afb7920fd17,

title = "Integrator backstepping using barrier functions for systems with multiple state constraints",

abstract = "The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.",

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

year = "2005",

doi = "10.1109/CDC.2005.1583507",

language = "English",

isbn = "0780395689",

series = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

pages = "8306--8312",

booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

note = "44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 ; Conference date: 12-12-2005 Through 15-12-2005",

}

Ngo, KB, Mahony, R & Jiang, ZP 2005, Integrator backstepping using barrier functions for systems with multiple state constraints. in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05., 1583507, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 8306-8312, 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1583507

Integrator backstepping using barrier functions for systems with multiple state constraints. / Ngo, Khoi B.; Mahony, Robert; Jiang, Zhong Ping.
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 8306-8312 1583507 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

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

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T1 - Integrator backstepping using barrier functions for systems with multiple state constraints

AU - Ngo, Khoi B.

AU - Mahony, Robert

AU - Jiang, Zhong Ping

PY - 2005

Y1 - 2005

N2 - The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.

AB - The problem of stabilization for a class of feedback linearizable systems with multiple state constraints is addressed. The design procedure is constructive, and yields a continuous final control law which guarantees that all specified states remain within certain bounds for all time. The achieved bounds on the states are independent of the initial conditions. The procedure entails shaping the control Lyapunov function, and propagating hard-bounds imposed on the pertinent stabilising functions and associated error signals through the steps of the backstepping control design framework.

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U2 - 10.1109/CDC.2005.1583507

DO - 10.1109/CDC.2005.1583507

M3 - Conference contribution

SN - 0780395689

SN - 9780780395688

T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

SP - 8306

EP - 8312

BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Y2 - 12 December 2005 through 15 December 2005

ER -

Ngo KB, Mahony R, Jiang ZP. Integrator backstepping using barrier functions for systems with multiple state constraints. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 8306-8312. 1583507. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1583507

Integrator backstepping using barrier functions for systems with multiple state constraints

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