Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...

ABSTRACT: Active control is indispensable to electromagnetic suspension system in order to stabilize the open-loop system. For simplicity, linear control strategy is widely utilized in practical maglev systems. However, electromagnetic suspension system is inherently highly nonlinear, which makes linear control strategies sometimes fail in experiments. To conquer the nonlinearity of the suspens...

This paper considers the stabilization problem of the Acrobot, a widely studied benchmark nonlinear under-actuated mechanical system. For such systems the design of control Law becomes a challenging task owing to complex internal dynamics and lack of feedback linearizibility. These result in need of closed form solutions for highly nonlinear equations or hybrid/switching controllers. A novel no...

Design and Implementation of Discrete Time Observer Based Backstepping Controller for a 2DOF Servomechanism

In this paper, a novel problem of observer-based adaptive fuzzy fractional control for fractional order dynamic systems with commensurate orders is investigated; the control scheme is constructed by using the backstepping and adaptive technique. Dynamic surface control method is used to avoid the problem of “explosion of complexity” which is caused by backstepping design process. Fuzzy logic sy...

This paper presents an adaptive nonlinear controller for Doubly-Fed Induction Generator (DFIG) in wind power generation. The control objective is to extract the maximum power (Maximum Power Point Tracking) and have a specified reactive power at the generator terminal despite the variable wind speed and the unknown mechanical parameters and mechanical torque. To achieve such a decoupled control,...

As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of ...

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is des...

Using backstepping design, exponential stabilization of the linearized Saint-Venant–Exner (SVE) model of water dynamics in a sediment-filled canal with arbitrary values of canal bottom slope, friction, porosity, andwater–sediment interaction, is achieved. The linearized SVEmodel consists of two rightward convecting transport Partial Differential Equations (PDEs) and one leftward convecting tran...