Abstract
Backstepping is a systematic method for nonlinear control design, which can be applied to a broad class of systems. The name “backstepping” refers to the recursive nature of the design procedure. First, only a small subsystem is considered, for which a “virtual” control law is constructed based on a Lyapunov function (Krstic et al., Nonlinear and Adaptive Control Design, Wiley Interscience, New York, 1995; Slotine and Li, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, 1991) for the subsystem. Then, the design is extended in several steps until a control law for the full system has been constructed. Along with the control law, a Lyapunov function is successively constructed. An important feature of backstepping is that useful nonlinearities, which act stabilizing, can be retained. This is in contrast to feedback linearization control where nonlinearities are cancelled using nonlinear feedback. Retaining nonlinearities instead of cancelling them requires less precise models and may also require less control effort. Backstepping can be applied to nonlinear systems which are in strict feedback form or pure feedback form. In this paper controller design for ascent phase of reusable launch vehicle in pitch plane using backstepping is presented.
Published Version
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