Through this work a deep understanding of the
backstepping control technique is sought when applied over
non-affine systems. It is shown that in this case appears the
necessity to bound the value of internal states and that a modification
over standard backstepping is mandatory. The principal
goal of this study is to evaluate the effects of finite frequency
filters, and the effects of saturation affecting intermediate states
and control actions, in the tracking performance when using
the command filtered backstepping. Some relations that bind
the controller gains to maintain performance appear naturally.
Finally simulations over a 2D steering robot model are given
to illustrate the found results.
CitationCayero, J.; Pep Cugueró Escofet; Morcego, B. Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle. A: euRathlon-ARCAS Workshop and Summer School on Field Robotics. "Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,". Sevilla: 2014.
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