In this thesis, Some adaptive neural control design ways are presented for a class of multi-input multi-output (MIMO) nonlinear systems in block-triangular form with disturbance input and state time-varying delay. Neural networks are employed to approximate the unknown continuous functions. By combining the use of a novel quadratictype Lyapunov-Krasovskii functionals and adaptive NN backsteppin...

This paper presents a new control strategy for a three phase shunt active power filter, which consists of applying an adaptive nonlinear control. This technique consists of applying an adaptive nonlinear control to the uncertain nonlinear model of shunt active power filter obtained in (dq) frame by using the power balance between the input and output sides. The designed Adaptive nonlinear contr...

Linearization of the input}output response of a nonlinear system via state feedback has found many applications in control of nonlinear processes. However, in the presence of uncertainties, this approach leads to inexact linearization and results in the loss of performance and stability. In this paper, a controller design methodology is developed based on input/output linearization and multi-ob...

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, F...

By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, model-based developed to get structure that useful development of controller. The version by using two techniques. To stabilize output function, an neural network used, which approximates non-linear function contains uncertainties. desired rotor ...

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...

In this paper, we consider the output regulation problem for a one dimensional wave equation with harmonic disturbance anti-collocatedwith control. We first design an adaptive observer by themeasured output to estimate unknown parameters of the disturbance and recover the system state. Then by using the observer system and estimator of unknown harmonic disturbance, we construct an auxiliary sys...