In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping techn...

This paper investigates the adaptive finite-time stabilization of a class of switched nonlinear systems with unknown nonlinear terms using neural networks. Under the assumption that all the growth conditions for the unknown nonlinear perturbation functions are partially known, the common finitetime controller and adaptive law are constructed by extending the adding-a-power-integrator technique ...

The problem of exponential stabilization for nonholonomic mobile robot with dependent stochastic disturbance of heading angle is considered in this paper. An integrator backstepping controller based on state-scaling method is designed such that the state of the closed-loop system, starting from a nonzero initial heading angle, is regulated to the origin with exponential rate in almost surely se...

A novel Lyapunov function, which contains a concept of transfer function, was constructed to prove the rightness of a new kind of robust backstepping filter derivative control method. Meanwhile, the relationship between Lyapunov function and transfer function was established, which is an important concept that can be applied in a large family of control systems. Also, the backstepping design te...

We consider a problem of stabilization of the linearized Schrödinger equation using boundary actuation and measurements. We propose two different control designs. First, a simple proportional collocated boundary controller is shown to exponentially stabilize the system. However, the decay rate of the closed-loop system cannot be prescribed. The second, full-state feedback boundary control desig...

In this paper, the 3-Dimensional (3D) position and orientation of a camera held by the end-effector of a robot manipulator is regulated to a constant desired position and orientation despite (i) the lack of depth information of the actual or desired camera position from a target, (ii) the lack of a 3D model of the target object, and (iii) parametric uncertainty in the dynamic model of the robot...

This thesis was set to tackle the gas coning problem in oil-rim reservoirs with horizontal wells. The focus was short term production planning in the sub-critical phase only. Different controllers were developed and assessed based on the objective of netpresent-value (NPV) of oil produced in the sub-critical phase. The reservoir model is a 1-D partial differential equation describing the dynami...

A novel indirect adaptive backstepping control approach based on type-2 fuzzy system is developed for a class of nonlinear systems. This approach adopts type-2 fuzzy system instead of type-1 fuzzy system to approximate the unknown functions. With type-reduction, the type-2 fuzzy system is replaced by the average of two type-1 fuzzy systems. Ultimately, the adaptive laws, by means of backsteppin...

-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...

We present an unexampled reset integrator control design based on the Clegg integrator system. Using an appropriate mathematical model of our Clegg integrator controller, stability proof of the closed-loop system applied to the vibration control problem of a second-order system is shown without invoking hybrid system theory. Furthermore, we illustrate the applicability of our controller, from t...