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CEAS EuroGNC 2019

Backstepping control for state constrained systems
K. C. Tejaswi Undergraduate Student, Aerospace Engineering, Indian Institute of Technology, Bombay, India
Sukumar Srikant Associate Professor, Systems and Control Engineering, Indian Institute of Technology, Bombay, India
Abstract:
A state constrained control design problem is addressed in this article via Lyapunov techniques. We show that for systems in a special linear strict feedback form, it is possible to impose constraints on states unmatched with the control using a backstepping technique while achieving the stabilization objective. Initially in this article, we formalize for linear systems an existing procedure which uses backstepping control to constrain partial states of a spacecraft's attitude dynamics [SB15]. We further show that an extension of the method allows us to constrain all the states of the system simultaneously. In contrast to existing methods using Barrier Lyapunov functions, our controller does not result in large control actions close to the boundary of the convex constraint. Sample simulations are shown to illustrate our theoretical results.
Keywords: Adaptive control; Nonlinear control; Optimization
 View PDF CEAS-GNC-2019-056


K. C. Tejaswi, Sukumar Srikant: Backstepping control for state constrained systems. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-056.
BibTeX entry:

@Incollection{CEAS-GNC-2019-056,
    authors = {Tejaswi, K. C. and Srikant, Sukumar},
    title = {Backstepping control for state constrained systems},
    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},
    address = {Milan, Italy},
    month = apr,
    year = {2019},
    note = {CEAS-GNC-2019-056}
}