The paper presents a new method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control input. The proposed technique is applied to the stabilization problem of the dynamic system of a nonholonomic mobile robot. Simulation studies indicate that the methodology can also help alleviate the problem of chatter...

In this paper, we present a new scheme to design adaptive controllers for uncertain systems containing nonsmooth nonlinearities in the actuator device. The control design is achieved by introducing certain well defined sign functions and Neural Networks approximations and by using the backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unk...

The problem of course control for underactuated surface ship is addressed in this paper. Firstly, neural networks are adopted to determine the parameters of the unknown part of ideal virtual backstepping control, even the weight values of neural network are updated by adaptive technique. Then uniform stability for the convergence of course tracking errors has been proven through Lyapunov stabil...

In this paper, we present a backstepping based fuzzy logic (FL) scheme for the active control of vehicle suspension systems using the two-degrees of freedom or 1/4 car model. The full dynamics of a novel hydraulic strut are considered. The servo-valve dynamics are also included. A fuzzy logic system is used to estimate the nonlinear hydraulic strut dynamics. The backstepping fuzzy logic scheme ...

Abstract—In this paper, an intelligent backstepping controller, tuned using a chaotic particle swarm optimization (CPSO), is proposed to control of chaos in Genesio-Tesi chaotic system. Thebackstepping method consists of parameters with positive values. The parameters are usually chosen optional by trial and error method. The improper selection of the parameters leads to inappropriate responses...

This paper presents an adaptive fuzzy controller for a class of completely pure-feedback nonlinear systems. Takagi-Sugeno type fuzzy logic systems are used to approximate the unknown nonlinear functions. The controller synthesis is developed by the backstepping technique and the small gain approach. The closed-loop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB...

This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing nonregular static state feedbacks, these systems are transformed into a class of nonlinear systems with chain structures. Then, controller design is presented by applying the backstepping design technique. The design procedure is applied to an underactuated robotic system an...

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Nu...

In this paper, an active backstepping design is proposed to achieve control and synchronization of a new hyperchaotic system. The proposed method is a systematic design approach and exists in a recursive procedure that interlaces the choice of a Lyapunov function with the design of the active control. The proposed controller enables stabilization of chaotic motion to the origin as well as synch...

This paper presents a novel adaptive control algorithm solving the trajectory tracking problem for quadrotor aerial vehicles. The control law is derived using a backstepping procedure. A technique derived from dynamic surface control is used to simplify the expression of the obtained control algorithm, with no significant loss in terms of performance. Proof of stability is obtained using Lyapun...