This chapter provides an introduction to semi active control of base isolated buildings using magnetorheological (MR) dampers. Recently developed nonlinear control algorithms are discussed. First a fuzzy logic control (FLC) is designed to decide how much voltage is required to be supplied to the MR damper for a desired structural response. The FLC is optimized using micro genetic algorithm. A n...

A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this method is to augment the (virtual) controls as states during each recursive step. As new dynamics are included in the design, the resulting controller is in ...

This paper proposes an adaptive robust control for spatial hydraulic industrial robot, with a view of improving the performance of trajectory tracking under varying uncertainty. The mathematical models of mechanical system and electro-hydraulic driven system of spatial 6-DOF industrial robot are described, under Kane method and hydromechanics method. The backstepping design methodology is adopt...

In this paper we study robustness of the recently developed adaptive backstepping design with tuning functions for linear systems. Under assumptions on unmodeled dynamics and disturbances equal to those for certainty equivalence schemes, we address—for the first time—an adaptive scheme not based on the certainty equivalence principle. In the process of redesign for robustness we employ only lea...

A global decentralized adaptive output-feedback dynamic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally di eomorphic into systems which are interconnections of subsystems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previ...

This paper presents a position control design for quadrotors, aiming to exploit the physical capability and maximize the full control bandwidth of the quadrotor. A novel noncascaded dynamic inversion design is used for the baseline control, augmented by an L1 adaptive control in the rotational dynamics. A new implementation technique is developed in the linear reference model and error controll...

In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples th...

For a class of MIMO nonaffine block nonlinear systems, a neural networkNNbased dynamic feedback backstepping control design method is proposed to solve the tracking problem. This problem is difficult to be dealt with in the control literature, mainly because the inverse controls of block nonaffine systems are not easy to resolve. To overcome this difficulty, dynamic feedback, backstepping desig...

This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed‐loop system are regularly bounded and the tracking errors converge to zero. The re...