Lyapunov redesign

Lyapunov redesign

Introduction

Published in Mohamed Gad-el-Hak, MEMS, 2005

Lyapunov redesign is an instance of nonlinear robust control design. However, there is a severe restriction upon how the uncertainties are expressed in the equations of motion with a corresponding restriction on the types of systems that are amenable to this technique. In particular, consider the system: x˙=f(t,x)+G(t,x)u+G(t,x)δ(t,x,u)

On backstepping control for a class of multiple uncertain systems with reduced-order ESO

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Journal Information

Published in International Journal of Control, 2023

Tao Wu, Shangyao Shi, Dong Zhang, Xingling Shao

Lyapunov redesign (Wang et al., 2016) is a robust control method, which assumes that an uncertainty satisfies the matching conditions and special inequalities. In this control method, the feedback control law is designed to make the origin of the closed-loop system asymptotically stable. Then, the controller is redesigned by adding feedback controller, so that the overall controller can stabilize the actual system in the presence of uncertainty. Its ability to deal with the matching uncertainty leads us to use this method in every step of the proposed backstepping controller.

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Introduction

On backstepping control for a class of multiple uncertain systems with reduced-order ESO