A unification between nonlinear-nonquadratic optimal control and integrator backstepping

Authors

Chaouki T. Abdallah
Wassim M. Haddad
Jerry L. Fausz
Vijaya-Sekhar Chellaboina

Document Type

Article

Publication Date

12-10-1997

Abstract

In this paper we develop an optimality-based framework for backstepping controllers. Specifically, using a nonlinear-nonquadratic optimal control framework we develop a family of globally stabilizing backstepping controllers parametrized by the cost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteeing closed-loop stability is a solution to the steady-state Hamilton-Jacobi-Bellman equation for the controlled system and thus guarantees both optimality and stability. The results are specialized to the case of integrator backstepping.

Publisher

IEEE

Publication Title

Proceedings of the 36th IEEE Conference on Decision and Control

ISSN

0-7803-4187-2

First Page

1741

Last Page

1742

DOI

10.1109/CDC.1997.657808

Language (ISO)

English

Sponsorship

IEEE

Keywords

Backstepping, Control nonlinearities, Linear feedback control systems

Recommended Citation

Abdallah, Chaouki T.; Wassim M. Haddad; Jerry L. Fausz; and Vijaya-Sekhar Chellaboina. "A unification between nonlinear-nonquadratic optimal control and integrator backstepping." Proceedings of the 36th IEEE Conference on Decision and Control (1997): 1741-1742. doi:10.1109/CDC.1997.657808.