Locally optimal backstepping is extended to output-feedback systemswith input disturbances and nonlinearities that depend only on the measured output. The constructive design blends worst-case "ltering with backstepping, and results in a disturbance attenuating dynamic output-feedback controller that achieves semiglobal inverse optimality and local near-optimality. 2001 Published by Elsevier Sc...

In this paper, we investigate the control and synchronization of chaos in nonlinear gyros. The control analysis is based on backstepping approach that interlace the appropriate choice of a Lyapunov function, while the synchronization is based on adaptive backstepping design. The designed control functions ensures stable controlled and synchronized states for two identical nonlinear gyros. Numer...

In this correspondence, Nussbaum gains are introduced in the backstepping design to obtain adaptive controllers for systems with unknown high-frequency gain. Two kinds of modified backstepping control design schemes are developed. It is shown that both schemes can give asymptotic tracking.

In this paper, we consider the L∞-bounded robust control problem for a class of nonlinear cascade systems with disturbances. Sufficient conditions are provided under which a hard bound is imposed on the system performance measure. The backstepping approach is used for controller design. Examples are provided to illustrate the method. Key-words. Nonlinear cascade systems, L∞ bound, robust contro...

In this paper, a novel one-step backstepping design scheme for an adaptive output feedback control of uncertain nonlinear system with a higher order relative degree and nonparametric uncertainties is proposed. The proposed method can design an output feedback based adaptive controller through a backstepping of only one step even when the controlled system has a higher order relative degree. Cop...

This paper presents a new nonlinear backstepping controller for a direct-driven permanent magnet synchronous generator-based wind turbine, which is connected to the power system via back-to-back converters. The proposed controller deals with maximum power point tracking (MPPT) in normal condition and enhances the low-voltage ride-through (LVRT) capability in fault conditions. In this method, to...

This paper introduces an explicit output-feedback boundary feedback law that stabilizes an unstable linear constant-coefficient reaction-diffusion equation on an n-ball (which in 2-D reduces to a disk and in 3-D reduces to a sphere) using only measurements from the boundary. The backstepping method is used to design both the control law and a boundary observer. To apply backstepping the system ...

A robust Sugeno type adaptive fuzzy neural network (RSAFNN) backstepping control for a two-axis motion control system is proposed in this paper. The adopted two-axis motion control system is composed of two permanent magnet linear synchronous motors (PMLSMs). The single-axis motion dynamics with the introduction of a lumped uncertainty, which includes parameter variations, external disturbances...

Tracking Control of Underactuated Surface Vessels Using Hybrid Control Methods Yu Tian Advisor: University of Guelph, 2016 Prof. Simon X. Yang In this thesis, two intelligent control systems are developed for tracking control of an underactuated surface vessel (USV). The studied USV is controlled with uncertain parameters, such as the disturbances from the ocean current. In the first part of th...

Equipping a fixed wing unmanned air vehicle (UAV) with low-level autopilots, we derive high-level velocity and roll angle control laws for the UAV. Backstepping techniques are applied to design the velocity and roll angle control laws from known velocity and heading angle control laws that explicitly account for velocity and heading rate constraints of the UAV. Regarding unknown autopilot const...