In this paper, the robust tracking control scheme is proposed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance based on the recurrent wavelet neural network disturbance observer (RWNNDO) and the backstepping technique. And then, the developed robust tracking control scheme is applied to an unmanned aerial vehic...

This article addresses the cooperative fault-tolerant control problem for networks of stochastic nonlinear systems with actuator faults and input saturation. The fuzzy neural (FNNs) are employed to estimate unknown functions disturbance terms. To analyze nondifferential saturation nonlinearity, a smooth function signal is constructed function. A novel adaptive protocol proposed by using backste...

The authors study here the problem of adaptive ”soft-landing” control for electromagnetic actuators. The soft landing requires accurate control of the actuator’s moving element between two desired positions. They propose a non-linear adaptive controller to solve the problem of robust trajectory tracking for the moving element, when considering model uncertainties with linear parametrisation. Th...

This paper presents a robust backstepping adaptive controller to overcome the overparameterization problem in adaptive control of nonlinear discrete-time systems. It is shown that the proposed controller can guarantee the global boundedness of the states of the whole adaptive system in the presence of time-varying parametric and nonparametric uncertainties. It can also ensure that the tracking ...

It is the intent of this paper to add to, and improve the existing design tools for nonlinear output feedback systems. Considered here are systems, exhibiting parametric uncertainty, and containing nonlinearities dependent on the output alone. A lower triangular state transformation is utilised, equivalent to that obtained via the traditional and recursive backstepping algorithm. Extra damping ...

Design of adaptive backstepping control for stabilization and synchronization a class uncertain fractional-order chaotic systems with uncertainties disturbances

In this paper we present an output feedback based Adaptive Robust Fault Tolerant Control (ARFTC) strategy to solve the problem of output tracking in presence of actuator failures, disturbances and modeling uncertainties for a class of nonlinear systems. The class of faults addressed here include stuck actuators, actuator loss of efficiency or a combination of the two. We assume no a priori info...

This paper presents a wavelet neural network backstepping sliding mode controller (WNNBSSM) for permanentmagnet synchronous motor (PMSM) position servo control system. Backstepping sliding mode (BSSM) is utilized to guarantee favorable tracking performance and stability of the whole system, meanwhile, wavelet neural network (WNN) is used for approximating nonlinear uncertainties. The designed c...

This paper presents an adaptive fuzzy backstepping control method that incorporates the dynamic equilibrium state (DES) theory to carry out path tracking for underactuated ships in presence of parameter variations and external disturbances induced by wind, wave and current. First, the optimal DES reference trajectories are designed for the sway displacement and the yaw angle. Then, by combining...