Backstepping designs on complex nonlinear systems

Course Overview

This course is a special lecture designed for MR8500 PhD Topics in Marine Control Systems at NTNU (Norwegian University of Science and Technology), aiming to provide a comprehensive overview and application guide of backstepping design methods.

Course Highlights

• Introduce 6 elegant methods:

  1. Dynamic surface control and commanded filters
  2. Finite-time control
  3. Neural network and fuzzy logic system
  4. Nussbaum function
  5. Barrier Lyapunov function
  6. Hyperbolic tangent function

• Apply the elegant methods to a class of systems, including state constraints, input nonlinearities (input saturation/deadzone/time-varying control coefficient), unknown disturbance, time-delay effects, purefeedback system, event-triggered systems, stochastic systems.

• Apply the elegant methods to complex systems, including the underactuated system, switched system, and multi-agent consensus system.

Course Materials

[Lecture plan, Lecture 1, Lecture 2]