On integral control in backstepping: analysis of different techniques

  title={On integral control in backstepping: analysis of different techniques},
  author={Roger Skjetne and T. I. Fossen},
  journal={Proceedings of the 2004 American Control Conference},
  pages={1899-1904 vol.2}
Including integral action in a nonlinear backstepping design is the topic of this paper. Two methods for adding integral feedback are proposed and analyzed. These are compared to the more traditional methods: 1) adaptive backstepping, and 2) plant augmentation that adds an extra relative degree and thus gives one extra step of backstepping. A test plant is used to compare the different control laws. Based on the theoretical analysis and the simulations, some interesting conclusions are made for… CONTINUE READING
Highly Cited
This paper has 36 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 27 extracted citations


Publications referenced by this paper.
Showing 1-10 of 12 references

An extension of Matrosov’s theorem with application to stabilization ofnonholonomic control systems:

  • Popovie, A. R. Ted
  • P m . 41sl IEEE Con! Decision & Conrrol,
  • 2002

On characterizations of the inputtostate stability property

  • E. D. Sontag, Y. Wang
  • Guidance , Navigation , and Control of Ships…
  • 2002

A theorem for UGAS and ULES of ( passive ) nonautonomous systems : robust control of mechanical systems and ships

  • T. I. Fossen, A. Loría, A. R. Teel
  • Int . J . Robust Nonlinear Contr .
  • 2001

Integral backstepping control and experimental implementation for motion system

  • Y. Tan, J. Chang, H. Tan, J. Hu
  • Proc . IEEE Int . Conf . Contr . Appl .
  • 2000

Integral backstepping control and experimental implemntntion for motion system,” in Pm

  • J. Chang, H. Tan, I. Hu
  • IEEE Inl. Con! Conn Appl., (Anchoragc, Alaska,
  • 2000

Design of a dynamic positioning system using model - based control

  • A. J. Sørensen, S. I. Sagatun, T. I. Fossen
  • Contr . Eng . Practice
  • 1996

Integral - action nonlinear control of induction motors

  • P. T. Krein
  • Proc . 12 th IFAC World Congress Automatic…
  • 1993

Globally asymptotically stable ‘ PD + ’ controller for robot manipulators

  • B. Paden, R. Panja
  • Int . J . of Control
  • 1988

A Hisislory sf Conrrol Engineering 1800-1930

  • S. Bennet
  • Peter Peregrinus Ltd.,
  • 1979

Similar Papers

Loading similar papers…