Back Stepping

1
Ola Hrkegrd
Backstepping: From simple designs to take-off
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
LINKPINGS UNIVERSITET
COMMUNICATION SYSTEMS
Backstepping
From simple designs to take-off
Ola Hrkegrd
Control & Communication
Linkpings universitet
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Backstepping
Constructive (=systematic) control design for nonlinear systems
( )
( )
( ) u , x , , x , x , x f x
x , x , x f x
x , x f x
n 3 2 1 n n
3 2 1 2 2
2 1 1 1
K
&
M
&
&
(essentially same as for

feedback linearization)
Applies to systems of lower triangular form
Can be used to avoid cancellation of "useful nonlinearities"
(unlike feedback linearization)
Different flavours: adaptive, robust and observer backstepping
2
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Paper statistics
0
5
10
15
20
25
30
92 93 94 95 96 97 98 99 00 01 02 03
Conference papers
Journal papers
Conference papers: 194
Not adaptive: 108
Applied 2003: 16 of 25
IEEE Explore 1990-2003
Backstepping in title
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
References
Books
Nonlinear and Adaptive Control Design, 1995 (Krstic,
Kanellakopolous, Kokotovic).
Constructive Nonlinear Control, 1997 (Sepulchre, Jankovic,
Kokotovic).
Any recent textbook on nonlinear control.
Papers
The joy of feedback: nonlinear and adaptive, 1991 Bode lecture
(Kokotovic).
Constructive nonlinear control: a historical perspective,
Automatica, 2001 (Kokotovic, Arcak).
3
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Lyapunov stability (geometric interpretation)
Dynamics:
Lyapunov function:
For stability: 0 f V V
x

&
( ) x f x
&
( ) x V
-4 -3 -2 -1 0 1 2 3 4
-3
-2
-1
0
1
2
3
x1
x
2
x
V
f
Dynamics:
is a CLF if
for some u
0 gu V f V V
x x
< +
&
( ) ( )u x g x f x +
&
( ) x V
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 1 (backstepping)
u x
x x x
2
2
2
1 1
+
&
&
Step 1:
1
2
1 d , 2
x x x
2
1 2
1
1
x V
2
2 2
1
2
1 2
1
2
x
~
x V +
( ) ( ) + + + u x
~
x
~
x x V
2 2 1 1 2
&
Step 2:
1
2
1 2 d , 2 2 2
x x x x x x
~
+ +
0 x
~
x
2
2
2
1

( ) + + + u x x
~
x
1 2
2
1
2 1
x
~
x u
if
( )( )
'
+ + +
+
2 1 1 2
2 1 1
x
~
x 1 x 2 u x
~
x
~
x x
&
&

0 x x x V
2
1 1 1 1

&
&
if
d , 2 2
x x
4
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 1 (feedback linearization)
u x
x x x
2
2
2
1 1
+
&
&
u z z 2 z
z x x z
z x y
2 1 2
2 2
2
1 1
1 1
+
+

&
&
2 2 1 1 2 1
z k z k z z 2 u gives stability
Which control law
should I choose?
Which control law
should I choose?
Same control law with

Same control law with
2 k k
2 1

Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
"Conclusion"
Backstepping with linearizing virtual control laws
and quadratic Lyapunov functions
Feedback linearization
Easier to tune
5
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 1 (backstepping)
u x
x x x
2
2
2
1 1
+
&
&
Step 1:
1
2
1 d , 2
x x x
2
1 2
1
1
x V
2
2 2
1
2
1 2
1
2
x
~
x V +
( ) ( ) + + + u x
~
x
~
x x V
2 2 1 1 2
&
Step 2:
1
2
1 2 d , 2 2 2
x x x x x x
~
+ +
0 x
~
x
2
2
2
1

( ) + + + u x x
~
x
1 2
2
1
2 1
x
~
x u
if
( )( )
'
+ + +
+
2 1 1 2
2 1 1
x
~
x 1 x 2 u x
~
x
~
x x
&
&

0 x x x V
2
1 1 1 1

&
&
if
d , 2 2
x x
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 2 (adaptive backstepping)
Step 1:
1
2
1 d , 2
x x x
2
1 2
1
1
x V
0 x x x V
2
1 1 1 1

&
&
u x
x x x
2
2
2
1 1
+
&
&
2
2
x +
Step 2:
1
2
1 2 d , 2 2 2
x x x x x x
~
+ +
( )( )
'
+ + +
+
2 1 1 2
2 1 1
x
~
x 1 x 2 u x
~
x
~
x x
&
&
2
2
x +
2
2 2
1
2
1 2
1
2
x
~
x V + ( )
2
2
1
+
( ) + + + u x x
~
x V
1 2
2
1 2
&
2
2
x + ( )
&

gives
2 1
x
~
x u
2
2
x

2
2
2
1 2
x
~
x V
&
( )
,
_
+
&
x x
~
2
2 2
0
2
2 2
x x
~

&
if
6
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 3 (useful nonlinearity)
u x
x x x x
2
2 1
3
1 1
+ +
&
&
-2 -1 0 1 2
-6
-4
-2
0
2
4
6
( )
2 2
1
1 2
x
~
x W V +
( )( ) ( )
2
3
1 2 2
3
1 1 2
x
~
x u x
~
x
~
x x W V + + +
&
( ) ( ) ( )
2
3
1 1 2
3
1 1
x
~
x u x W x
~
x x W + +

x x
3
+
1 d , 2
x x
( )
1 1
x W V
Step 1:
With we can select
2
x
~
3 u
( )
4
1 4
1
1
x x W
to achieve
0 x
~
2 x V
2
2
6
1 2

&
1 2 d , 2 2 2
x x x x x
~
+
'
+
+
2
3
1 2
2
3
1 1
x
~
x u x
~
x
~
x x
&
&
Step 2:
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Example 3 (control law properties)
2 1
3
1 1
x x x x + +
& u x
2

&
0 3
+
+
1
x
2
x
2
x
~
u
d , 2
x
Cascaded control implementation
No cancellations gain margin (1/3, )
( ) ( )
+ + +
0
2
6
1
2
2 1 2
1
6
1
dt u x x x
Inverse optimal, minimizes
7
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Design paths
System
backstepping
CLF, control law
System
backstepping
CLF
control law
(inverse optimal)
Sontags formula
( ) ( ) ( ) ( ) ( )
2 1
4
1 2
2
2 1 2 1 2 2 1 1 2 1
2 1
z cz
cz z cz z z cz z z z 2 z cz z
z z 2 u
+
+ + + + + + +
Ex 1:
System
backstepping
CLF
control law
(locally optimal,
globally inv. opt.)
H
(Ezal et al. 2000)

Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Backstepping control of a rigid body
Plug-and-play flight controller
Use vector description of dynamics for control design
Plug-and-play flight controller
Use vector description of dynamics for control design
(Extension of CDC 2002 paper by Glad & Hrkegrd.)
8
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Control problem
V
F
u
M
u
6 states: V,
4 inputs: u
F
, u
M
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Dynamics
V
F
u
M
u
( )
M
F
u J J
n u t , V f mV V m
+
+ +
&
&
Engine
Gravity
Aerodynamics
Stationary motion:
( )
0 0
0
V
V g
V V
+
0
V
9
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Controlled variables
: V
Angle of attack,
Sideslip angle,
Total velocity, |V|
V
: V
Velocity vector roll rate, p

w
w
p
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Backstepping novelties
No clear lower triangular form
Vector states (not scalars)
MIMO problem
( )
M
F
u J J
n u t , V f mV V m
+
+ +
&
&
10
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Backstepping design
( ) n u t , V f mV V m
F
+ +
&
Step 1:
( ) ( )
0
T
0 2
m
1
V V V V W
c
d
c
F F F
u u u
+
+
cancel f(V,t)
( ) ( ) n
V V u V V m W
T
0 F 0
T
1
+
&
d
gives
0 W
1

&
if we select
( )
( ) V
V V K
n V V k u
0 2
T
0 1 F
+

+
~ ~
cW W
T
2
1
1 2
d
~

0 W
2

&
if we select
+
~
K J J u
3 d M
&
M
u J J + &
Step 2:
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Closed loop dynamics
Independent of nonlinear force f(V,t) (but not linear)
Good decoupling
Easy to tune locally linear dynamics of |V|, , and
Singular at = 90 deg
Robustness?
11
Ola Hrkegrd
Internal seminar
January 27, 2005
AUTOMATIC CONTROL
Flight simulation
Backstepping
controller
Backstepping
controller
Matlab/Simulink FlightGear 0
u , ,
ref
F ref

Back Stepping

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1

(essentially same as for

Same control law with

(Ezal et al. 2000)

Velocity vector roll rate, p

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