A unification between nonlinear‐nonquadratic optimal control and integrator backstepping
A unification between nonlinear‐nonquadratic optimal control and integrator backstepping
In this paper we develop an optimality-based framework for backstepping controllers. Specifically, using a nonlinear-nonquadratic optimal control framework we develop a family of globally stabilizing backstepping controllers parametrized by the cost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteeing closed-loop stability is a solution …