Nonlinear Tracking by Trajectory Regulation Control using Backstepping Method

by Cooper, David

This thesis presents the development of nonlinear tracking by Trajectory Regulation Control using the Backstepping method. The purpose of this thesis is to perform a feasibility study on the Backstepping method. A brief background of the need for nonlinear tracking control techniques is presented with an overview on stabilization, based on control Lyapunov functions. The Backstepping method employed the design of a tracking controller for a benchmark nonlinear plant that is unstable and nominimum phase. The design is implemented and tested in MATLAB/SIMULINK. The Backstepping controller is compared against the Trajectory Linearization Control and Sliding Mode in tracking performance and robustness testing. Results of the Backstepping model show an increase tracking performance and similar robustness when compared to Trajectory Linearization Control and Sliding Mode Control.