In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To...

A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem wheeled mobile robots (WMR) is examined in this study. Tuning parameters a challenging task, to overcome issue hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique known as whale grey wolf optimizer (HWGO), w...

In this paper, we examine the problem of robust stabilization of time-delay nonlinear systems which are in parametric strict feedback (PSF) form. We propose an iterative procedure of stabilizing controller construction similiar to backstepping procedure for this class of timedelay nonlinear systems.

This paper presents the development of a nonlinear quadrotor simulation framework together with a nonlinear controller. The quadrotor stabilization and navigation problems are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The o...

Since extraneous torque is the key factor to affect the accuracy of electro-hydraulic servo loading system, the forming mechanism of extraneous torque was discussed in this work. And then several design methods of loading system controller based on modern control theory were introduced, such as internal model control, Cerebella model articulation control and adaptive backstepping control.