By Topic

Observer-based backstepping with weak nonlinear damping

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Arcak, M. ; Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

Due to the absence of a separation principle, it is necessary to ensure robustness of a control law against the observer error. We present a new backstepping design which renders the system integral input-to-state stable (iISS) with respect to the observer error. The advantage of the new design over conservative ISS designs is that it employs "weak" nonlinear damping terms, which grow slower than those used for achieving ISS. Stability is established from a recent cascade result for iISS systems, by exploiting the exponential convergence of observer estimates.

Published in:

American Control Conference, 2002. Proceedings of the 2002  (Volume:5 )

Date of Conference: