Scribd
Upload
49 views

Lect 28 PDF

The document discusses the backstepping control method for stabilizing nonlinear systems. Backstepping involves viewing the system dynamics as having a "virtual" control input and finding a feedback law to stabilize that portion of the system. It then treats the error between the actual control input and virtual input as a new system to be stabilized. This process can be repeated to stabilize systems in strict feedback form through recursive design of Lyapunov functions and feedback laws. An example demonstrates using backstepping to stabilize a two-dimensional system.

Uploaded by

augiegmail
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
49 views

Lect 28 PDF

The document discusses the backstepping control method for stabilizing nonlinear systems. Backstepping involves viewing the system dynamics as having a "virtual" control input and finding a feedback law to stabilize that portion of the system. It then treats the error between the actual control input and virtual input as a new system to be stabilized. This process can be repeated to stabilize systems in strict feedback form through recursive design of Lyapunov functions and feedback laws. An example demonstrates using backstepping to stabilize a two-dimensional system.

Uploaded by

augiegmail
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 11

Nonlinear Systems and Control

Lecture # 28

Stabilization

Backstepping

– p. 1/?
η̇ = f (η) + g(η)ξ
ξ̇ = u, η ∈ Rn , ξ, u ∈ R

Stabilize the origin using state feedback

View ξ as “virtual” control input to

η̇ = f (η) + g(η)ξ

Suppose there is ξ = φ(η) that stabilizes the origin of

η̇ = f (η) + g(η)φ(η)

∂V
[f (η) + g(η)φ(η)] ≤ −W (η), ∀η∈D
∂η

– p. 2/?
z = ξ − φ(η)

η̇ = [f (η) + g(η)φ(η)] + g(η)z


∂φ
ż = u − [f (η) + g(η)ξ]
∂η

∂φ
u= [f (η) + g(η)ξ] + v
∂η

η̇ = [f (η) + g(η)φ(η)] + g(η)z


ż = v

– p. 3/?
Vc (η, ξ) = V (η) + 12 z 2

∂V ∂V
V̇c = [f (η) + g(η)φ(η)] + g(η)z + zv
∂η ∂η
∂V
≤ −W (η) + g(η)z + zv
∂η

∂V
v=− g(η) − kz, k > 0
∂η
V̇c ≤ −W (η) − kz 2

– p. 4/?
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = u

ẋ1 = x21 − x31 + x2

x2 = φ(x1 ) = −x21 − x1 ⇒ ẋ1 = −x1 − x31

V (x1 ) = 12 x21 ⇒ V̇ = −x21 − x41 , ∀ x1 ∈ R

z2 = x2 − φ(x1 ) = x2 + x1 + x21

ẋ1 = −x1 − x31 + z2


ż2 = u + (1 + 2x1 )(−x1 − x31 + z2 )

– p. 5/?
Vc (x) = 12 x21 + 21 z22

V̇c = x1 (−x1 − x31 + z2 )


+ z2 [u + (1 + 2x1 )(−x1 − x31 + z2 )]

V̇c = −x21 − x41


+ z2 [x1 + (1 + 2x1 )(−x1 − x31 + z2 ) + u]

u = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2

V̇c = −x21 − x41 − z22

V̇c = −x21 − x41 − (x2 + x1 + x21 )2


– p. 6/?
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = x3 , ẋ3 = u

ẋ1 = x21 − x31 + x2 , ẋ2 = x3


def
x3 = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2 = φ(x1 , x2 )

V (x) = 12 x21 + 21 z22 , V̇ = −x21 − x41 − z22


z3 = x3 − φ(x1 , x2 )

ẋ1 = x21 − x31 + x2 , ẋ2 = φ(x1 , x2 ) + z3


∂φ 2 3 ∂φ
ż3 = u − (x1 − x1 + x2 ) − (φ + z3 )
∂x1 ∂x2
– p. 7/?
Vc = V + 12 z32

∂V ∂V
V̇c = (x21 − x31 + x2 ) + (z3 + φ)
∂x1 ∂x2
∂φ 2 ∂φ
 
3
+ z3 u − (x1 − x1 + x2 ) − (z3 + φ)
∂x1 ∂x2

V̇c = −x21 − x41 − (x2 + x1 + x21 )2


∂V ∂φ 2 ∂φ
 
3
+z3 − (x1 − x1 + x2 ) − (z3 + φ) + u
∂x2 ∂x1 ∂x2

∂V ∂φ ∂φ
u=− + (x21 − x31 + x2 ) + (z3 + φ) − z3
∂x2 ∂x1 ∂x2

– p. 8/?
η̇ = f (η) + g(η)ξ
ξ̇ = fa (η, ξ) + ga (η, ξ)u, ga (η, ξ) 6= 0

1
u= [v − fa (η, ξ)]
ga (η, ξ)

η̇ = f (η) + g(η)ξ
ξ̇ = v

– p. 9/?
Strict-Feedback Form

ẋ = f0 (x) + g0 (x)z1
ż1 = f1 (x, z1 ) + g1 (x, z1 )z2
ż2 = f2 (x, z1 , z2 ) + g2 (x, z1 , z2 )z3
..
.
żk−1 = fk−1 (x, z1 , . . . , zk−1 ) + gk−1 (x, z1 , . . . , zk−1 )zk
żk = fk (x, z1 , . . . , zk ) + gk (x, z1 , . . . , zk )u

gi (x, z1 , . . . , zi ) 6= 0 for 1 ≤ i ≤ k

– p. 10/?
Example
η̇ = −η + η 2 ξ, ξ̇ = u
η̇ = −η + η 2 ξ
ξ = 0 ⇒ η̇ = −η
V0 = 12 η 2 ⇒ V̇0 = −η 2 , ∀ η ∈ R

V = 12 (η 2 + ξ2 )

V̇ = η(−η + η 2 ξ) + ξu = −η 2 + ξ(η 3 + u)
u = −η 3 − kξ, k>0
V̇ = −η 2 − kξ2 Global stabilization

– p. 11/?

You might also like