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What is Backstepping

Chapter 4
Encyclopedia of Information Science and Technology, Fifth Edition
A technique for designing stabilizing controls for a special class of nonlinear dynamical systems, which are built from subsystems that radiate out from an irreducible subsystem that can be stabilized using some other method. The design process is a recursive structure, starting at the known-stable system and backing out new controllers that progressively stabilize each outer subsystem. In each step a Lyapunov function and a virtual control law are derived for each subsystem.
Published in Chapter:
Embedded Control System Design for Inverted Pendulum Type Mobile Robots Based on High-Level Petri Nets
Gen'ichi Yasuda (Nagasaki Institute of Applied Science, Japan)
Copyright: © 2021 |Pages: 12
DOI: 10.4018/978-1-7998-3479-3.ch004
Abstract
This chapter presents a unified method for designing nonlinear motion control software of traveling control by non-holonomic two-wheeled inverted pendulum mobile robots, where self-balancing control is designed with a backstepping approach. The work described in this chapter focuses on the design and implementation of control software based on the use of a specialized notation formally defined by Petri nets. The software generates motor torque inputs for traveling control based on self-balancing control with on-line elaboration of the posture angle of the inverted pendulum. While traditional techniques offer limited support for validating control software design before producing final code, the proposed notation is easy to use in the specific controller design and it benefits from validation techniques available for Petri nets.
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