This paper proposes a fuzzy-identification-based adaptive control scheme for the chaotic dynamic systems using backstepping control approach, which is referenced as adaptive fuzzy backstepping control (AFBC). The proposed AFBC offers a design approach to drive the chaotic trajectory to track a desired trajectory, and it is comprised of a fuzzy backstepping controller and a robust controller. Th...

This paper presents a new fuzzy Lyapunov controller for nonholonomic mobile vehicles. A symbiosis between classical backstepping techniques and fuzzy logic was realized. The control system ensures a good robustness with respect to outside perturbations. These perturbations can interact with the vehicle. They are sources of uncertainty for the system model and can perturb the validity of the non...

The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was designed and implemented in MatlabSimulink. The advantages of the control method proposed is that it takes into consideration the nonlinearity which can be useful...

In this paper, an adaptive fuzzy tracking control approach is proposed for a class of single-inputsingle-output (SISO) nonlinear systems in which the unknown continuous functions may be nonlinearlyparameterized. During the controller design procedure, the fuzzy logic systems (FLS) in Mamdani type are applied to approximate the unknown continuous functions, and then, based on the minimal learnin...

This paper presents an adaptive backstepping controller for a class of multi input multi output (MIMO) underactuated system, with uncertain dynamics, in its original nonsquare form. The proposed controller combines a wavelet based backstepping controller and a robust control term to obtain the desired tracking performance. Proposed scheme utilizes the concept of regularized inverse for effectiv...

A bio-inspired neurodynamics based path-following controller of underactuated autonomous underwater vehicle (AUV) in the presence of ocean current is proposed. A kind of bio-inspired neurodynamics model and the backstepping path-following controller are combined in this paper. The bio-inspired neurodynamics model is applied to generate smooth forward and angular velocities, so that the sharp sp...