Tutorial on nonlinear backstepping: Applications to ship control
The theoretical foundation of nonlinear backstepping designs is presented in a tutorial setting. This includes a brief review of integral backstepping, extensions to SISO and MIMO systems in strict feedback form and physical motivated case studies. Parallels and differences to feedback linearization...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1999-04-01
|
| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1999/MIC-1999-2-3.pdf |
| _version_ | 1811246291618889728 |
|---|---|
| author | Thor I. Fossen Jan P. Strand |
| author_facet | Thor I. Fossen Jan P. Strand |
| author_sort | Thor I. Fossen |
| collection | DOAJ |
| description | The theoretical foundation of nonlinear backstepping designs is presented in a tutorial setting. This includes a brief review of integral backstepping, extensions to SISO and MIMO systems in strict feedback form and physical motivated case studies. Parallels and differences to feedback linearization where it is shown how so-called "good nonlincarities" can be exploited in the design are also made. |
| first_indexed | 2024-04-12T14:51:19Z |
| format | Article |
| id | doaj.art-0b87b5c4bf0d42dba7f3324b134f1b8d |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-04-12T14:51:19Z |
| publishDate | 1999-04-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-0b87b5c4bf0d42dba7f3324b134f1b8d2022-12-22T03:28:25ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281999-04-012028313510.4173/mic.1999.2.3Tutorial on nonlinear backstepping: Applications to ship controlThor I. FossenJan P. StrandThe theoretical foundation of nonlinear backstepping designs is presented in a tutorial setting. This includes a brief review of integral backstepping, extensions to SISO and MIMO systems in strict feedback form and physical motivated case studies. Parallels and differences to feedback linearization where it is shown how so-called "good nonlincarities" can be exploited in the design are also made.http://www.mic-journal.no/PDF/1999/MIC-1999-2-3.pdfNonlinear controlbackstepping |
| spellingShingle | Thor I. Fossen Jan P. Strand Tutorial on nonlinear backstepping: Applications to ship control Modeling, Identification and Control Nonlinear control backstepping |
| title | Tutorial on nonlinear backstepping: Applications to ship control |
| title_full | Tutorial on nonlinear backstepping: Applications to ship control |
| title_fullStr | Tutorial on nonlinear backstepping: Applications to ship control |
| title_full_unstemmed | Tutorial on nonlinear backstepping: Applications to ship control |
| title_short | Tutorial on nonlinear backstepping: Applications to ship control |
| title_sort | tutorial on nonlinear backstepping applications to ship control |
| topic | Nonlinear control backstepping |
| url | http://www.mic-journal.no/PDF/1999/MIC-1999-2-3.pdf |
| work_keys_str_mv | AT thorifossen tutorialonnonlinearbacksteppingapplicationstoshipcontrol AT janpstrand tutorialonnonlinearbacksteppingapplicationstoshipcontrol |