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...

| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...

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...

Different from the previous work for quadrotor which mostly discusses application of different controllers to quadrotor control under normal flight conditions, this paper introduces a new design strategy which considers fault tolerant capability of the quadrotor control problems. By utilizing Passive Fault Tolerant Control Systems (PFTCS) concept with backstepping control approach, the trajecto...

Compared with traditional aircraft, the near space hypersonic unmanned aerial vehicle control system design must deal with the extra prominent dynamics characters, which are differ from the traditional aircrafts control system design. A new robust adaptive control design method is proposed for one hypersonic unmanned aerial vehicle (HSUAV) uncertain MIMO nonaffine block control system by using ...

Magnetic Levitation System (MLS) is a nonlinear system and it used extensively in many areas. The system's goal to use the non-contact principle magnetize coil cause objects float specific height. magnetic force current flowing through have relationship. In this paper first design of backstepping controller done attain wanted floating presence related uncertainties behavior witnessed. Then Slid...

The present paper presents a new solution for the stabilization and disturbance attenuation problems of the oscillating eccentric rotor (OER), an extensively studied non-linear under-actuated mechanical system. Designing control law for such systems is a challenging task owing to the under-actuation property, which poses problems in exact feedback linearization. Presented non-linear controller ...

A systematic controller design and implementation for a matrix-converter-based induction motor drive system is proposed. A nonlinear adaptive backstepping controller is proposed to improve the speed and position responses of the induction motor system. By using the proposed adaptive backstepping controller, the system can track a time-varying speed command and a time-varying position command we...

The paper presents the design of a mini-UAV attitude controller using the backstepping method. Starting from the nonlinear dynamic equations of the mini-UAV, by using the backstepping method, the authors of this paper obtained the expressions of the elevator, rudder, and aileron deflections, which stabilize the UAV at each moment to the desired values of the attitude angles. The attitude contro...