This paper presents an indirect adaptive control scheme for a pH process, which is diicult to control due to its nonlinear dynamics with uncertainties. A nonlinear controller is designed using a backstepping technique which can deal with a large class of nonlinear systems with parametric uncertainty. The nonlinear controller is combined with a parameter estimator to estimate the concentrations ...

In this paper, a neural-network-based control scheme is developed for the tracking control problem of a class of switched strict-feedback nonlinear systems with uncertain input delay and external time-varying disturbances. First, the auxiliary signals are obtained by masterly constructing a filter and a virtual observer. Then the adaptive backstepping technique and neural network (NN) are emplo...

A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the ...

In this paper we present two PID+ solutions to the problem of relative translational and rotational tracking in a leader-follower spacecraft formation, based on the concept of integrator backstepping. By using an integrator augmentation technique, we include integral action in the controllers to account for unknown orbital perturbations. Two methods for including integral action in the control ...

This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptiv...

In this paper, we consider a class of second-order uncertain nonlinear systems. Besides parametric uncertainties, a non-parametric uncertainty may exist in every state equation or channel with its effects bounded by a known function. Such a bounding function is allowed to depend on all system states which means that the actual system does not need to meet the triangular structure. Therefore the...

This paper describes how to use backstepping to develop control laws to perform trajectory tracking for a nonlinear, underactuated surface vessel. The research extends earlier backstepping designs for underactuated vessels by explaining how to select outputs when generalized forces act on the vessel. The resulting control law can correct orientation errors to track linear trajectories and can t...

In this paper we present a PID+ backstepping controller, as a solution to the problem of coordinated attitude control in spacecraft formations. The control scheme is based on quaternions and modified Rodriguez parameters as attitude representation of the relative attitude error. Utilizing the invertibility of the modified Rodriguez parameter kinematic differential equation, a globally exponenti...

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...

Abstract. An explicit output-feedback boundary feedback law is introduced 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 syste...