This paper addresses the issue of position control of a chain of multiple massspring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive ...

It is the intent of this paper to add to, and improve the existing design tools for nonlinear output feedback systems. Considered here are systems, exhibiting parametric uncertainty, and containing nonlinearities dependent on the output alone. A lower triangular state transformation is utilised, equivalent to that obtained via the traditional and recursive backstepping algorithm. Extra damping ...

This paper presents a robust backstepping adaptive controller to overcome the overparameterization problem in adaptive control of nonlinear discrete-time systems. It is shown that the proposed controller can guarantee the global boundedness of the states of the whole adaptive system in the presence of time-varying parametric and nonparametric uncertainties. It can also ensure that the tracking ...

This paper addresses the problem of dynamic positioning of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. A nonlinear adaptive controller is proposed that yields convergence of the trajectories of the closed loop system to a desired target point in the presence of a constant unknown ocean current disturbance and parametric model uncertainty. The controller is firs...

Abstract: We present a control design to solve the global output feedback stabilization problem of a class of uncertain nonlinear systems. Each system in this class consists of some dynamic uncertainties, linear parametric uncertainties and, most importantly, output-dependent uncertain integrator gains or virtual coefficients. To solve the problem, an observer design is proposed, and the robust...

This paper aims to address the tracking problem of uncertain fractional-order permanent magnet synchronous motors with parametric uncertainties. To guarantee system stability and offset effect uncertainties, an adaptive backstepping composite learning neural control scheme based on interval excitation is presented. Moreover, dynamic surface technique exploited overcome technical limitation “exp...

This paper presents a wavelet neural network backstepping sliding mode controller (WNNBSSM) for permanentmagnet synchronous motor (PMSM) position servo control system. Backstepping sliding mode (BSSM) is utilized to guarantee favorable tracking performance and stability of the whole system, meanwhile, wavelet neural network (WNN) is used for approximating nonlinear uncertainties. The designed c...