EXAM 2 Solutions

Problem 1
Consider the following dynamic system
_ r = r + + d(t) (1)
_ = n (2)
where r(t). (t). d(t). n(t) R, and d(t) is a continuous unknown function that satises
[d(t)[ < c
where c R is a known positive constant. Assuming only that x(t) and y(t) are
measurable, what is the best result that you can obtain where the objective is
r 0.
Solution:
Assumptions: r(t) and (t) are measurable.
Objective: Drive r 0
Open-loop System:
It is a backstepping problem since the control does not appear directly in _ r dynamics and
the goal is to control r. Adding and substracting the virtual control input:
_ r = r + d(t) +
d
+
d
_ r = r + d(t) + j +
d
where the backstepping error
j ,
d
. (3)
Design the virtual control input as

d
= (/
1
+ 1)r (4)
where / R is a known positive constant.
Closed-loop System:
_ r = /
1
r + d(t) + j (5)
Taking the time derivative of the backstepping error:
_ j = _ _
d
= _ + (/ + 1) _ r
_ j = n + (/
1
+ 1)(r + + d(t)) (6)
1
Let consider a positive denite, radially unbounded and decrescent Lyapunov candidate
function
\ =
1
2
r
2
+
1
2
j
2
(7)
. =
_
r .

T
(8)
Taking the time derivative of the Lyapunov candidate function
_
\ = r _ r + j _ j
_
\ = r(/
1
r + d(t) + j) + j[n + (/
1
+ 1)(r + + d(t))]
Design the control input as
n = /
2
j (/
1
+ 1)(r + + c.:q:(j)) r (9)
Substituting the control input (9) into the derivative
_
\ (t):
_
\ = r(/
1
r + d(t) + j) + j[/
2
j (/
1
+ 1)(r + + c.:q:(j)) r + (/
1
+ 1)(r + + d(t))]
= /
1
r
2
+ rd(t) /
2
j
2
c(/
1
+ 1)j.:q:(j) + (/
1
+ 1)jd(t)
_
\ _ /
1
r
2
+ c[r[ /
2
j
2
c(/
1
+ 1)[j[ + c(/
1
+ 1)[j[
_
\ _ /
1
r
2
/
2
j
2
+ c[r[ (10)
Let
/
1
= /
A
+ /
B
.
Then (10) becomes
_
\ _ /
A
r
2
/
B
(r
2

c
/
B
[r[) /
2
j
2
_
\ _ /
A
r
2
/
B
_
_
r
c
/
B
_
2

c
2
4/
2
B
_
/
2
j
2
_
\ _ /
A
r
2
/
B
_
r
c
/
B
_
2
+ /
B
c
2
4/
2
B
/
2
j
2
_
\ _ /
A
r
2
+
c
2
4/
B
/
2
j
2
_
\ _ min/
A
. /
2
|.|
2
+
c
2
4/
B
.
So we are left with two cases
_
\ _ min/
A
. /
2
|.|
2
i, |.| _
c
2
_
minfk
A
;k
2
gk
B
_
\ _ min/
A
. /
2
|.|
2
+
c
2
4k
B
i, |.| <
c
2
_
minfk
A
;k
2
gk
B
(11)
Thus,
_
\ reduces if |.| _
c
2
p
k
A
k
B
and hence r also reduces. Once, |.| <
c
2
p
k
A
k
B
,
_
\ starts
increasing but once again |.| _
c
2
p
k
A
k
B
and
_
\ becomes negative. So, |.| will keep oscillating
2
around
c
2
p
k
A
k
B
. The bound can be reduced by using bigger gain /
1
. Thus, |.| remains
ultimately bounded and the system is Globally Uniformly Ultimately Bounded (GUUB).
Since |.| is bounded, r(t) and j(t) are bounded. Based on (4),
d
(t) is bounded and since
r(t) is measurable
d
(t) is measurable. From (3), since j(t).
d
(t) are bounded, (t) /
1
,
and since (t).
d
(t) are measurable, j(t) is measurable. Since r(t), (t), j(t) /
1
, based
on (9) the control input n(t) /
1
is bounded. The control input n(t) is measurable since
it is a function of all measurable terms r(t), (t), j(t). From (5) and (6), the closed-loop
dynamics is stable and the signals _ r(t), and _ j(t) are bounded.
Problem 2
Consider the following dynamic system
_ r = r +
_ = n + d(t) (12)
where r(t). (t). d(t). n(t) R, and d(t) is an unknown function that satises [d(t)[ < c,
where c R is a known positive constant. Assuming only that x(t) and y(t) are
measurable, what is the best result that you can obtain where the objective is
r 0.
Assumption: r(t) and (t) are measurable.
Objective: Drive r 0
Open-loop System:
It is a backstepping problem. Adding and subtracting the virtual control input
_ r = r +
d
+
d
_ r = r +
d
+ j
where the backstepping error
j ,
d
. (13)
Design:

d
= (/
1
+ 1)r (14)
where / R is a known positive constant.
Closed-loop System:
_ r = /
1
r + j. (15)
Dierentiating the vitual control input
_ j = _ _
d
= n + d(t) + (/
1
+ 1) _ r
_ j = n + d(t) + (/
1
+ 1)(r + ) (16)
Control Design and Stability Analysis:
3
Let consider a positive denite, radially unbounded and decrescent Lyapunov candidate
function
\ =
1
2
r
2
+
1
2
j
2
=
1
2
|.|
2
where . , [r j]
T
and
j
1
|.|
2
_ \ _ j
2
|.|
2
.
Dierentiating the Lyapunov candidate function with respect to time
_
\ = r _ r + j _ j
_
\ = r(/
1
r + j) + j(n + d(t) + (/
1
+ 1)(r + ))
Design the control input
n = /
2
j r c.:q:(j) (/
1
+ 1)(r + ) (17)
Hence,
_
\ = r(/
1
r + j) + j[/
2
j r c.:q:(j) (/
1
+ 1)(r + ) + d(t) + (/
1
+ 1)(r + )]
= /
1
r
2
/
2
j
2
cj.:q:(j) + j.d(t)
_
\ _ /
1
r
2
/
2
j
2
c[j[ + c[j[
_
\ _ /
1
r
2
/
2
j
2
_
\ _ 2/\
where / = min/
1
. /
2
. Thus,
\ (t) _ \ (0)c
2kt
.
|.(t)| _
j
2
j
1
|.(0)| c
2kt
. (18)
Hence, a Global Exponential stability result can be concluded.
From (18), r(t) and j(t) are bounded, i.e., r(t). j(t) /
1
. Since r(t) /
1
, from (14)

d
(t) /
1
and measurable. From (13), since j(t) /
1
, (t) /
1
. Since (t),
d
(t) are
measurable so j(t) is measurable. The signals r(t). (t). j(t) /
1
and measurable hence,
from (17) the control input n(t) /
1
and is measurable. Since, all the signals are bounded
the closed loop dynamics in (15) and (16) are stable.
Problem 3
Consider the following dynamic system
_ r = r
2
+ cr sin(t) + /.:q:(n) + cn (19)
where r(t). n(t) R, and c. /. c R are positive unknown constants. Assuming only
that x(t) is measurable, and given the objective to show
r 0.
Assumption: r(t) is measurable.
4
Objective: Design (a) a continuous controller; (b) a discontinuous controller to drive
r 0
1. Design a continuous controller:
The open-loop system:
_ r = c[
1
c
r
2
+
c
c
r sin(t) + n +
/
c
:q:(n)]
= c[1 o + n +
/
c
:q:(n)]
where 1 = [r
2
r sin(t)] and o = [
1
c
a
c
]
T
.
Design the continuous control input as
n = /r 1
^
o (20)
where
^
o(t) R
2
is the estimate of the unknown constant vector o. The closed-loop system
is
_ r = c[1
~
o /r +
/
c
:q:(n)].
where the estimation mismatch
~
o(t) R
2
is dened as
~
o = o
^
o
Consider a positive denite, radially unbounded and decrescent Lyapunov candidate function
\ =
c
1
2
r
2
+
1
2
~
o
T

1
~
o
where 1
22
is a known positive denite matrix
1
. Taking time derivative of the Lyapunov
candidate function
_
\ = c
1
r _ r +
~
o
T

~
o
_
\ = c
1
rc[1
~
o /r +
/
c
:q:(n)]
~
o
T

^
o
_
\ = r1
~
o /r
2
+
/
c
r:q:(n)
~
o
T

^
o
Assume that we know the upper bound of
b
c
:
[
/
c
[ _ d
where d is a known positive constant and [:q:(n)[ _ 1. Chossing the update law of
^
o as

^
o = 1
T
r
1
Since, c > 0, it is allowed in the Lyapunov function.
5
Hence, the time derivative of the Lyapunov candidate function can be rewritten as
_
\ = r1
~
o /r
2
+
/
c
r:q:(n)
~
o
T

1
1
T
r
_
\ _ /r
2
+ d[r[.
Let
/ = /
1
+ /
2
_
\ _ /
1
r
2
/
2
_
r
2

d
/
2
[r[
_
_ /
1
r
2
/
2
_
_
r +
d
/
2
_
2

d
2
4/
2
2
_
_ /
1
r
2
/
2
_
r +
d
/
2
_
2
+
d
2
4/
2
_
\ _ /
1
r
2
+
d
2
4/
2
(21)
Similar to the argument in Problem 1, r(t) oscilates in the region
_

d
2
p
k
1
k
2
.
d
2
p
k
1
k
2
_
. This
region can be made smaller by choosing a bigger gain /. In this problem, we can conclude
that as t , the system state r(t) is Globally Uniformly Ultimately Bounded (GUUB).
Moreover, since r(t) is bounded and measurable so based on (20), n(t) is measurable and
can be shown to be bounded. The closed-loop dynamics are stable.
2. Design a discontinuous controller:
The dynamics are given as
_ r = r
2
+ cr sin (t) + /:q:(n) + cn (22)
_ r
c
=
r
c
2
+
c
c
r sin (t) +
/
c
:q:(n) + n
Design
n = /r j
1
r
2
:q:(r) j
2
:q:(r) (23)
Choosing a PD, RU candidate Lyapunov function
\ =
1
2
1
c
r
2
(24)
j
1
r
2
_ \ _ j
2
r
2
(25)
Taking a time derivative
_
\ = r(
_ r
c
)
_
\ = r
_
r
c
2
+
c
c
r sin (t) +
/
c
:q:(n) + n
_
_
\ = r
_
r
c
2
+
c
c
r sin (t) +
/
c
:q:(n) /r j
1
r
2
:q:(r) j
2
:q:(r)
_
_
\ =
r
3
c
+
c
c
r
2
sin(t) +
/
c
r:q:(n) /r
2
j
1
r
3
:q:(r) j
2
r:q:(r)
6
Assuming that the two unknown terms b and c can be bounded by three known con-
stants,

c
c

_ c

/
c

_

/

1
c

_ c
The :q:(n) can be bounded as
[:q:(n)[ _ 1
_
\ _ c

r
3

+ cr
2
sin(t) +

/r:q:(n) /r
2
j
1

r
3

j
2
[r[
_
\ _ /r
2
+ cr
2
+ c

r
3

j
1

r
3

/ [r[ j
2
[r[
Since /. j
1
. j
2
are design variables, we can choose them as
/ c
j
1
c
j
2


/
Therefore,
_
\ _ cr
2
, [r[ [r[
where
c = c /
, = c j
1
=

/ j
2
Thus,
_
\ _ cr
2
(26)
_
\ _ 2cc\
Solving the dierential equation
\ (t) _ \ (0)c
2ct
[r[ _
j
2
j
1
r(0)c
2ct
.
Hence, the system has global exponential stability. The states r(t), (t) /
1
. Since
r(t) /
1
, from (23) n(t) /
1
. Also, n(t) is measurable as r(t) is measurable. Since,
all the signals are bounded, the closed loop dynamics are stable.
Problem 4
7
Dynamic Model:
r = r
2
+ r sin(t) + c tanh(r) + (27)
_ = / tanh() + . (28)
_ . = n + c sin(). (29)
where r(t). (t). .(t). n(t) 1, and c. /. c 1 are positive unknown constants.
Assumption:
- r(t). _ r(t). (t). .(t) are measurable
- r
d
(t) is suciently smooth and bounded and its derivatives _ r
d
(t). r
d
(t). r
(3)
d
(t). r
(4)
d
(t)
1
1
Objective: Design a continuous controller to drive r(t) r
d
(t)
Control Design:
Dene a tracking error
c(t) = r
d
(t) r(t) (30)
and a lter tracking error:
: = _ c + cc (31)
where c R is a known positive constant. Based on the assumption that r(t) and _ r(t)
are measurable so c(t) and :(t) are measurable, dierentiating the lter tracking error then
adding and subtracting the rst virtual control input yields:
_ : = c + c_ c = r
d
r + c_ c
_ : = r
d
r
2
r sin(t) c tanh(r) + c_ c
_ : = r
d
r
2
r sin(t) 1
1
o
1

d
+ j + c_ c
where the rst backstepping error j(t) is dened as
j ,
d
(32)
and 1
1
= tanh(r) and o
1
= c.
Design the rst virtual control input as

d
= /: + r
d
r
2
r sin(t) 1
1
^
o
1
+ c_ c (33)
where / is a known positive constant. The closed-loop error system is
_ : = r
d
r
2
r sin(t) 1
1
o
1
+ j + c_ c
(/: + r
d
r
2
r sin(t) 1
1
^
o
1
+ c_ c)
_ : = /: 1
1
~
o
1
+ j (34)
where the rst estimation mismatch
~
o
1
(t) R is dened as
~
o
1
, o
1

^
o
1
.
8
Based on the subsequent stability analysis, the update law of
^
o
1
is chosen as

^
o
1
=
1
1
1
: (35)
where
1
1 is a known positive constant.
Dierentiating the rst backstepping error and adding, and subtracting the second virtual
control input yields
_ j = _
d
_ = _
d
/ tanh() .
_ j = _
d
/ tanh() .
d
+ (36)
where the second backstepping error (t) is dened as
, .
d
. (37)
and from (33) and
_
1
1
= sec /
2
(r). _ r,

^
o
1
=
1
1
1
:, hence
_
d
= / _ : + r
(3)
d
2r _ r _ r sin(t) r cos(t)
_
1
1
^
o
1
1
1

^
o
1
+ c( _ : c_ c)
_
d
= (/ + c)( r
d
r
2
r sin(t) c tanh(r) + c_ c) + r
(3)
d
2r _ r _ r sin(t) r cos(t) sec /
2
(r) _ r
^
o
1
+
1
1
2
1
: c
2
_ c
_
d
= ,
1
(r. _ r. . r
d
. _ r
d
. r
d
. r
(3)
d
. t) (/ + c)c tanh(r) (38)
where
,
1
() = (/ + c)( r
d
r
2
r sin(t) + c_ c) + r
(3)
d
2r _ r _ r sin(t) r cos(t) sec /
2
(r) _ r
^
o
1
+
1
1
2
1
: c
2
_ c (39)
Substituting (38) into (36):
_ j = ,
1
(/ + c)c tanh(r) / tanh() .
d
+
_ j = ,
1
1
2
o
2
.
d
+ (40)
where 1
2
= [(/ + c) tanh(r) tanh()]. o
2
= [c /]
T
.
Design the second virtual control input as
.
d
= /j + ,
1
+ : 1
2
^
o
2
. (41)
The closed-loop error system j(t) becomes
_ j = /j : 1
2
~
o
2
+ (42)
where the second estimation mismatch is dened as
~
o
2
, o
2

^
o
2
.
Based on the subsequent stability analysis, the update law of
^
o
2
is chosen as

^
o
2
=
2
1
T
2
j (43)
9
where
2
R
22
is a known symmetric positive denite matrix.
Dierentiating the second backstepping error yields
_
= _ .
d
_ . = _ .
d
n c sin().. (44)
From (41)
_ .
d
=
_
,
1
+ / _ j + _ :
_
1
2
^
o
2
1
2

^
o
2
= (/ + c)(r
(3)
d
2r _ r _ r sin(t) r cos(t) _ + c c) + r
(4)
d
2r r 2 _ r
2
r sin(t)
2 _ r cos(t) + r sin(t) + sec /
2
(r)[2 tanh(r) _ r
2
^
o
1
r
^
o
1
+ 3
1
_ r1
1
:]
+
1
1
2
1
_ : c
2
c + / _ j + _ : [(/ + c) sec /
2
(r) _ r :cc/
2
() _ ]
^
o
2
+ 1
2

2
1
T
2
j.
Substituting _ : = r
d
r+c_ c. c = r
d
r, and (27), (28), the above equation can be rewritten
as
_ .
d
= ,
2
(r. _ r. . .. r
d
. _ r
d
. r
d
. r
(3)
d
. r
(4)
d
. t) + ,
3
(r. t)c + ,
4
()/ (45)
where
^
o
2
= [
^
o
21
^
o
22
]
T
and
,
2
() = (/ + c)[r
(3)
d
2r _ r _ r sin(t) r cos(t) sec /
2
(r) _ r
^
o
21
]
+ r
d
(c/ +
1
1
2
1
+ 1) + r
(4)
d
2 _ r
2
2 _ r cos(t) + r sin(t) + /,
1
+sec /
2
(r)[2 tanh(r) _ r
2
^
o
1
+ 3
1
_ r1
1
:] + (
1
1
2
1
+ 1)c_ c
[2/ + c + :cc/
2
()
^
o
22
]. + 1
2

2
1
T
2
j
[c/ + 2r + sin(t) + sec /
2
(r)
^
o
1
+
1
1
2
1
+ 1][r
2
+ r sin(t) + ] (46)
and
,
3
() = [/(/ + 2c) + 2r + sin(t) + sec /
2
(r)
^
o
1
+
1
1
2
1
+ 1] tanh(r) (47)
and
,
4
() = [2/ + c + :cc/
2
()
^
o
22
] tanh(). (48)
Substituting (45) into (44) yields:
_
= ,
2
+ ,
3
c + ,
4
/ n c sin().
= ,
2
+ 1
3
o
3
n (49)
where 1
3
= [,
3
,
4
. sin()] and o
3
= [c / c]
T
.
Design the control input as
n = / + ,
2
+ j + 1
3
^
o
3
. (50)
Substituting (50) into (49):
_
= / j + 1
3
~
o
3
(51)
where the third estimation mismatch is dened as
~
o
3
, o
3

^
o
3
.
Consider a positive denite, radially unbounded and decrescent Lyapunov candidate function
\ (t) =
1
2
:
2
+
1
2
j
2
+
1
2

2
+
1
2

1
1
~
o
2
1
+
1
2
~
o
T
2

1
2
~
o
2
+
1
2
~
o
T
3

1
3
~
o
3
(52)
10
where
3
R
33
is a symmetric positive denite matrix.
Dierentiating the Lyapunov candidate function, and using the conditions (34), (42), (51),
(35) and (43), the derivative
_
\ (t) can be expressed as
_
\ = : _ : + j _ j +
_
+
1
1
~
o
1

~
o
1
+
~
o
T
2

1
2

~
o
2
+
~
o
T
3

1
3

~
o
3
_
\ = :(/: 1
1
~
o
1
+ j) + j(/j : 1
2
~
o
2
+ ) + (/ j + 1
3
~
o
3
)
+
1
1
~
o
1

1
1
1
: +
~
o
T
2

1
2

2
1
T
2
j
~
o
T
3

1
3

^
o
3
_
\ = /:
2
/j
2
/
2
+ 1
3
~
o
3

~
o
T
3

1
3

^
o
3
.
Based on the stability analysis, the update law of
^
o
3
is chosen as

^
o
3
=
3
1
T
3
(53)
and the derivative
_
\ (t) can be rewritten as
_
\ = /:
2
/j
2
/
2
. (54)
Since the derivative
_
\ (t) is negative semidenite so we must use the Barbalats lemma to
analyze the stability result.
Since (52) and (54) :(t). j(t). (t).
~
o
1
(t).
~
o
2
(t) and
~
o
3
(t) are bounded. Thus, signals
^
o
1
(t).
^
o
2
(t)
and
^
o
3
(t) are bounded since o
1
. o
2
. o
3
are constant. Since :(t) /
1
, the signals c(t). _ c(t). r(t). _ r(t)
/
1
(using (31)) and since :(t). _ c(t). 1
1
(t) are bounded and measurable so
d
(t) is bounded
and measureable from (33). Using (32), (t) /
1
since j(t).
d
(t) /
1
and j(t) is mea-
surable since (t).
d
(t) are measurable.
Using (39), ,
1
() is bounded and measurable. Then since ,
1
(t). j(t). :(t). 1
2
(t) are bounded
and measurable, .
d
(t) is bounded and measurable (using (41)). Using (37), since (t). .
d
(t)
/
1
so .(t) /
1
and since .
d
(t). .(t) are measurable, so (t) is measurable.
Using (46), (47), (48), ,
2
(). ,
3
(). ,
4
() are bounded and measurable, so 1
3
(t) is bounded
and measurable. Then using (50), the control input n(t) is concluded to be bounded and
measurable.
Since (34), (42) and (51), _ :(t). _ j(t).
_
(t) /
1
. :(t). j(t). (t) are uniformly continuous and
since
_
t
0
_
\ (t)dt =
_
t
0
(/:
2
/j
2
/
2
)dt = \ (t) \ (0) /
1
so :(t). j(t). (t) /
2
. Applying Barbalats lemma, we conclude that :(t). j(t). (t) 0 as
t , globally, so c(t) 0 as t , globally. Hence the system is globally asymptotic
tracking the desired trajectory.
11