We propose a novel recursive design scheme of state observer for lower triangular nonlinear systems. The design begins from the bottom dynamics and propagates to upper dynamics recalling the backstepping scheme for nonlinear control. The proposed class of systems is fairly general since it includes non-uniformly observable or detectable multi-output systems. The error convergence to zero is pro...

In this paper, a new synchronization scheme, combination synchronization, is used to realize reduced order function projective synchronization among three chaotic Josephson junction systems using backstepping technique. In the first case, function projective synchronization of two (2) third order drive systems with a single second order Josephson junction is considered while in the second case,...

Robust nonlinear controller design with constraint on the poles' location of the linear part of closed-loop system is proposed. The design method is based on the integrator backstepping procedure and linear constrained ∞ H for nonlinear strictfeedback systems with disturbance also in strict-feedback form. The resulted closedloop system will be globally stable, while both local robustness and de...

In this paper, an adaptive backstepping control system with a fuzzy integral action is proposed to control the mover position of a linear induction motor (LIM) drive. First, the indirect field oriented control LIM is derived. Then, an integral backstepping design for indirect field oriented control of LIM is proposed to compensate the uncertainties which occur in the control. Finally, the adapt...

This paper is concerned with the observer design for one-dimensional linear parabolic partial differential equations whose output is a weighted spatial average of the state over the entire spatial domain. We focus on the backstepping approach, which provides a systematic procedure to design an observer gain for systems with boundary measurement. If the output is not a boundary value of the stat...

An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controller...