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Nonlinear Control Systems - Lecture 25

which generates the following system equations

Backstepping

Consider the system

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.

Backstepping Control Through Integrator

Since ,  , and as
Fig. 1. Backstepping - initial system

are known, the derivative can be written

Suppose we can asympotically stabilize the rst system,

Letting

4 % % T 4 !V9 ( U5 RSC % Q W 5

reduces our system to

 !"# !$  &%' !

!2%($9!Q

with a control law implies that the origin of

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

is positive denite. Add and subtract 2%'

4 3 65 78%@9BADCFEG !

3YX a`bcd
The derivative of

Q h 3 !fg e 8 pC%(2 h 3 !fg e i

P 

2%' !H9! I  C"%'$9 5 5

3 X
Choose

3 X is 4 3    #  ! b ' % ! H ! 9  4 5 4 3 # !$QIqQ W 4 CFEG !# 4 3 QpqQ W 4 4 r C  !'C"s8Q 4 3 # W

This resulting system is shown in gure 2.

where

sutv)

. This implies that

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

We now introduce the change of variables,

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

This is clearly negative denite so asymptotically stable.

@`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 actual control in our original coordinates is

CpCe  g !hCpC" FfFq h e CmICC"h CpCe  g !h h C" qcCkC"C" h e

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

Consider the scalar system,

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 

and design a feedback control law which might be

%(TChC CpC 

oq p h

oh Co f h

can be globally stabilized by the control

(cancels quadratic term and adds some damping). This implies that

C o e C  g o i oh C" o f h 'Ce h f o foh e %( o `2 h

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,

with Lyapunov function

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

to transform our system to

C C" fQ g  g ! hbCpC qQ8 e

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

and thereby stabilize the origin.

We now consider the more general system

 p{!@`2c"0{!@`2c$

This can be reduced to our origina form using the control input

U
so that

 W 

e Cp{! a`bc$9  { @`2c 5 W

Recursive application of backstepping allows us to stabilze systems that are in strict feedback form

| po~ h
. . .

 o r  r

Note that through .

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 ,

. . .

V}i|B"p}i|po copi|(`2pohBor |B`sro h h i|(`2poV`s h B h i|(`2poV`s 

The recursive application of backstepping to this system with

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.

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