-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...

One of the most important phenomenons in some systems is chaos; so control chaotic systems is difficult and shows the abilities of control methods. In this paper, first known chaotic systems, Lorenz equations, was selected as a chaotic system. One of the best control methods that would be used for stabilization this system, was Backstepping. In this paper this method is improved to Generalized ...

~~ This paper focuses on the problem of controlling DC-to-DC switched power converters of Buck type. The system nonlinear feature is coped with by resorting to the backstepping control approach. Both adaptive and nonadaptive versions are designed and shown to yield quite interesting tracking and robustness performances. A comparison study shows that backstepping nonlinear controllers perform as...

Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed ...

In this paper a nonlinear model of an underactuated quad rotor aerial robot is derived, based on Newton-Euler formalism, and backstepping based PID control strategy is implemented for the derived model. Model derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate actuation forces through modeling of aerodynamic coefficients and elec...

Backstepping is one of the most promising advanced control laws developed for xed-wing Unmanned Aerial Vehicles (UAVs). Its nonlinearity combined with adaptation guarantees adequate performance over the whole ight envelope even when the aircraft model is not exact. In the literature, there are several attempts to apply a backstepping controller to aspects of xed-wing UAV ight. Few of them attem...

Wing rock is a highly nonlinear phenomenon when the aircraft suffers undesired roll-dominated oscillatory at high angle of attack (AOA). Considering the strong nonlinear and unsteady aerodynamic characteristics, an uncertain multi-input and multi-output (MIMO) nonlinear wing rock model is studied, and system uncertainties, unsteady aerodynamic disturbances and external disturbances are consider...

This paper examines the proposed integrated backstepping design of missile guidance and control to the engagement of manoeuvring targets. To control engagement geometry, impact-anglecontrol guidance (IAGC) is analysed in two dimensional geometry. The integrated backstepping design with disturbance observer is then developed and interpreted in view of stability and robustness. The performance of...

In this paper we consider the benchmark nonlinear control problem and use backstepping to design several active controllers for tracking and disturbance attenuation; these two problems are much more challenging than stabilization. We show that the significant flexibility of backstepping can be exploited to reduce the required control effort and to eliminate the winding problem. ( 1998 John Wile...