Abstract: In this paper, we show that adaptive controllers designed using the standard backstepping technique proposed in Krstic [1995] globally stabilize a class of uncertain systems with unknown input time delay and unmodeled dynamics. As such systems belong to nonminimum phase systems and thus our result extends the class of systems stabilizable from minimum phase systems when the standard b...

Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, flies fixed-wing UAVs. A backstepping controller an adaptive are designed trajectory tracking payload delivery in medical emergency or substance vaccine presence wind gust. Simulation results show that effectively tracks during entire flight env...

This article focuses on a finite-time adaptive dynamic surface control (DSC) approach for kind of nonstrict fractional-order nonlinear systems (FONSs) with input delay. An auxiliary compensation function is presented by using the integral signal to handle delay problem. To overcome problem inherent computational complexity, filter applied virtual controller and its derivative in each step backs...

In this paper, we present a global adaptive output feedback control scheme for a class of 3rd-order uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. In contrast to the existing output feedback form, the allowed extended output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design techn...

In this paper, the adaptive and non-adaptive nonlinear Backstepping control approach for a permanent magnet synchronous motor drive is discussed and analyzed. We present a Matlab&Simulink simulation and experimental results from a benchmark based on FPGA. The design of a controller for a nonlinear system where the state vector dimension is high, can often be a difficult task, if not impossible....

This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of constant unknown ocean currents and parametric modeling uncertainty. A nonlinear adaptive controller is proposed that steers an AUV along a sequence of way-points consisting of desired positions (x, y) in a inertial reference frame, followed by...