Backstepping Control Under Multi Rate Sampling

Valentin Tanasa (1) , Salvatore Monaco (2) , Dorothée Normand-Cyrot (3, 3)

1 ACSE - Automatic Control and Systems Engineering [Bucharest]
2 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
3 L2S - Laboratoire des signaux et systèmes

The paper deals with the design of sampled-data controllers which preserve the stabilizing performance of a continuous-time backstepping control strategy. This is achieved through matching of the control Lyapunov functions evolutions at the sampling instants. The method is developed for systems in strict-feedback form. The results are discussed and compared with similar strategies through simulated examples.

Domaines: Automatique; Automatique / Robotique

Valentin Tanasa, Salvatore Monaco, Dorothée Normand-Cyrot. Backstepping Control Under Multi Rate Sampling. IEEE Transactions on Automatic Control, 2016, 61 (5), pp.1208-1222. ⟨10.1109/tac.2015.2453891⟩. ⟨hal-01339790⟩