To reduce initial control magnitude in backstepping: A continuous predictive approach

Abstract

In this paper, a novel backstepping control algorithm is proposed by adopting the nonlinear continuous predictive approach. An optimization performance index containing the weighted tracking error and control input is introduced to obtain the actual control law. By adjusting the weighting matrix, the control magnitude in the initial stage can be reduced. In… (More)
DOI: 10.1109/ASCC.2015.7244374

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