K. C., Tejaswi (Indian Institute of Technology, Bombay), Sukumar, Srikant (IIT Bombay)

Backstepping Control for State Constrained Systems

Scheduled for presentation during the Regular Session "Control design methods" (FrM11), Friday, April 5, 2019, 10:00−10:30, Carassa-Dadda

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 19, 2024

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. 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.