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Backstepping
Q
!2%($9!Q 5 ! C %' S
which is shown in gure 3. This change of variables is often called backstepping since it backsteps the control CF%' through the integrator.
We want to design a state feedback control law to stabilize the origin. We view this as a cascade connection of two components of which the rst is an integrator (see gure 1).
Fig. 3.
Since , , and as
Fig. 1. Backstepping - initial system
Letting
4 % % T 4 !V9 ( U5 RSC % Q W 5
!2%($9!Q
in which
%()0"1)
. This
!2%( 3 !
that
is asymptotically stable. Suppose also that we know a Lyapunov function satises the inequality,
which has the same form as the system we started with the exception that we now know the rst system is asymptotically stable at the origin. This modular property of backstepping will be exploited to stabilize the overall system. This is done by considering a candidate Lyapunov function
where EG to obtain
4 3 65 78%@9BADCFEG !
3YX a`bcd
The derivative of
P
3 X
Choose
where
sutv)
Fig. 2.
Introducing Control
which implies the origin is asympotitcally stable (x )y`2QR) ). Since %' )0U) , this implies that v) and ) is also asymptotically stable. Backstepping Lemma: Consider the system
3 X ACFEGws!Q h
Q7RIC%' !
P
!
(1) (2)
Let %' ! be a stabilizing state feedback law for the system in equation 1 where %' )7) . Let 3 ! be a Lyapunov function such that
@`2Qyn
)y`2)
is
# !b%' !H9BACFEG ! 4 3 5 for some positive denite E . Then the feedback law 4 % 4 U 4 7V9YC 4 3 # !'C"s IC"%' !H9 5 5 for sutv) stabilizes the origin with the Lyapunov function C%' !H9 h 3 Tg e 5 p
Example: Consider the system
The real value of backstepping is seen in higher order system where we can exploit the modularity of the approach. Consider this example,
P
h C"0q
oq p h
oh C o f h
This system conatins the second order system of the preceding example with an additional integrator as the input. After the rst backstep, we know the second order system
RhC
%(TChC CpC
oq p h
oh Co f h
(cancels quadratic term and adds some damping). This implies that
g with candidate Lyapunov function 3 !T h . Note that 3 C0hC"cADCh which implies that ) is asymptotically stable equilibrium point. Now use the backstepping change of variables,
xg e oh f g e h frowf oh h 3 ror`2 h
To do the second backstep, we apply the change of variables
QpC"%' o 2 `h
QdepC"%'TFqFf h
and let
g e hfg e Q!h 3 X
Then
3 X
YCpC" qQyQ# g iCpC" qQyb e ChC0jQ#k g iCpC" qQy# e uCpC6 g iCIC"0qQyClQ e C0hC"cmCQ8h 3 X
and choose
oh C o q h %' o `s h BqQ 4 % 4 % tC 4 oh C o q h C 4 u%qQy ro h o using 3 X 3 h h as the candidate Lyapunov function , we obtain 4 3 oh C" o f 4 3 iQf% 4 o 4 3 X a h h 4 % 4 % kQwvxSC 4 0oh C" o f h 'C 4 iQf%Hy po h Coh C0o Ce h qpoTfoh h 4 4 % kQwv 4 3 C 4 oh Co q h o 4 % h C 4 iQv%Y(ay h
So we take
to obtain
o h Q
to force
4 4 % 4 % UrC 4 3 4 oh C o f h B 4 iQpv%CQ h po h
to force
X z ) 3 F
p{!@`2c"0{!@`2c$
This can be reduced to our origina form using the control input
U
so that
W
Recursive application of backstepping allows us to stabilze systems that are in strict feedback form
| po~ h
. . .
o r r
pV o i|B`s o `ii`2r o B0 o i|B`s o `iii`2r o r pyi|B`s o `ii`2rrB |B`2 o `iih`2rp in this form r only depends on states | , co ,
. . .
gV}i|B"p}i|po |u
(viewing po as the input). It is important that we nd a control law (somehow) that stabilizes this SCALAR system. But once this is done, we can simply apply the backstepping recursions to nd a control that stabilizes the entire system.