The certainty equivalence and polynomial approach, widely used for designing adaptive controllers, leads to “simple” adaptive control designs that guarantee stability, asymptotic error convergence, and robustness, but not necessarily good transient performance. Backstepping and tuning functions techniques, on the other hand, are used to design adaptive controllers that guarantee stability and g...

A novel adaptive nonlinear controller based on backstepping with integrator is proposed for motion control systems. Backstepping is a practical nonlinear control scheme based on Lyapunov design approach, which can therefore guarantee the convergence of the position tracking error to zero. We utilize the integral action in the backstepping to increase control action in the steady state against t...

In this paper, an adaptive fuzzy robust output feedback control approach is proposed for a class of single input single output (SISO) strict-feedback nonlinear systems without measurements of states. The nonlinear systems addressed in this paper are assumed to possess unstructured uncertainties, unmodeled dynamics and dynamic disturbances, where the unstructured uncertainties are not linearly p...

Backstepping Control Design and Its Applications to Vehicle Lateral Control in Automated Highway Systems by Chieh Chen Doctor of Philosophy in Engineering-Mechanical Engineering University of California at Berkeley Professor Masayoshi Tomizuka, Chair In this dissertation the e ort is to explore new aspects of recursive backstepping design methodology from both theoretical and application point ...

In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...

This paper investigates robust adaptive switching controller design for Markovian jump nonlinear systems with unmodeled dynamics and Wiener noise. The concerned system is of strict-feedback form, and the statistics information of noise is unknown due to practical limitation. With the ordinary input-to-state stability ISS extended to jump case, stochastic Lyapunov stability criterion is proposed...

Trajectory tracking of uncertain time-delay linear systems by output feedback control is of theoretical importance and practical value. In this paper, concentrating on a class of linear plants whose relative degree equals to system dimension, we develop a Lyapunov-based control scheme to achieve trajectory tracking despite some classic difficulties including unmeasurable system state, unknown p...

In dealing with a large-scale system, one usually does not have adequate knowledge of the plant parameters and interactions among subsystems. The decentralized adaptive technique, designed independently for local subsystems and using locally available signals for feedback propose, is an appropriate strategy to be employed. In the context of decentralized adaptive control, a number of results ha...

A systematic controller design and implementation for a matrix-converter-based induction motor drive system is proposed. A nonlinear adaptive backstepping controller is proposed to improve the speed and position responses of the induction motor system. By using the proposed adaptive backstepping controller, the system can track a time-varying speed command and a time-varying position command we...