Abstract: A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design proc...

In this paper a new excitation control is developed for multimachine power systems that improves the transient stability. The design is based on the sliding mode technique which is applied on an equivalent model of the system obtained by using the backstepping technique. However, the conventional “sign” method with constant gains is replaced by the boundary layer sliding mode technique with tim...

Abstract: Along with increasing marine transportation and logistics, the ship autopilot has become much important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship course-keeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adapt...

If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this brief, we introduce a time-varying gain and integrate it design, resulting in new set control algorithms low complexity even for high-order strict-feedback systems. Furthermore, aid “softening” sign function based compensator, zero-error output tracking is ensured while ...

The mobility of people who have had a lower limb amputated is slower, less stable, and needs more metabolic energy than the movement physically fit, also, often difficulty moving on uneven terrain stairs. In most cases, these problems may be traced back to usage controllers for an above-knee prosthesis, which enhances quality life millions individuals lost limbs. this work addresses dynamic mod...

We consider the problem of stabilization of an unstable heat equation in a 2-D, 3-D and generally n-D domain by deriving a generalized backstepping boundary control design methodology. To stabilize the systems, we design boundary backstepping controllers inspired by the 1-D unstable heat equation stabilization procedure. We assume that one side of the boundary is hinged and the other side is co...

This paper deals with the problem of robust adaptive controller design for a class of Multi-Input and Multi-Output (MIMO) time delay uncertain systems based on backstepping method and fuzzy logical system (FLS). This problem aims at designing robust adaptive controller for all parameter uncertainties and time delay of MIMO system with backstepping method. This studied system consists of some su...

A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. Instead of a derivative, which cannot be implemented, a filtered derivative is used. Full rigorous stability proofs are given using filtered derivative. Compared with adaptive backstepping co...

The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the ac...