Tutorial on nonlinear backstepping: Applications to ship control

Abstract

The theoretical foundation of nonlinear backstepping designs is presented in a tutorial setting. This includes a brief review of integral backstepping, extensions to SISO and MIMO systems in strict feedback form and physical motivated case studies. Parallels and differences to feedback linearization where it is shown how so-called "good nonlincarities" can be exploited in the design are also made.

Keywords

• Nonlinear control
• backstepping