نتایج جستجو برای: backstepping technique

تعداد نتایج: 613049  

2017
Zohreh Alzahra Sanai Dashti Milad Gholami Masoud Hajimani

In this paper, a biologically motivated controller based on mammalian limbic system called Brain Emotional Learning Based Intelligent Controller (BELBIC) is used for velocity control of an Electro Hydraulic Servo System (EHSS) in presence of flow nonlinearities, internal friction and noise. It is shown that this technique can be successfully used to stabilize any chosen operating point of the s...

2008
Alma Y. Alanis Edgar N. Sanchez Alexander G. Loukianov

This paper deals with adaptive tracking for discrete-time MIMO nonlinear systems in presence of bounded disturbances, based on a neural observer. A high order neural network structure is used to approximate a control law designed by the backstepping technique, applied to a block strict feedback form (BSFF); besides the observer is based on a recurrent high-order neural network (RHONN), which es...

2013
Uchechukwu C. Wejinya Siva Naga Sandeep Chalamalasetty Zhuxin Dong Meyya Meyyappan Sunny E. Iyuke

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman fi...

2009
Jinpeng Yu Junwei Gao Yumei Ma Haisheng Yu José Balthazar

The speed tracking control problem of permanent magnet synchronous motors with parameter uncertainties and load torque disturbance is addressed. Fuzzy logic systems are used to approximate nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller guarantees the tracking error convergence to a small neighborhood of the origin and achieve...

Journal: :Inf. Sci. 2016
An-Min Zou Anton H. J. de Ruiter Krishna Dev Kumar

This paper considers the problem of attitude synchronization control of a group of flexible spacecraft under an undirected communication graph and in the absence of measurements of both modal variables and spacecraft angular velocities. To solve this problem, a nonlinear observer is introduced to estimate the unmeasurable modal variables and spacecraft angular velocities. Then, the backstepping...

2004
KRZYSZTOF KOZŁOWSKI DARIUSZ PAZDERSKI

A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov...

2015
Yasmine Koubaa Mohamed Boukattaya Tarak Dammak

This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller based on backstepping technique is introduced to make the WMR follow a reference trajectory. Secondly, an adaptive sliding-mode dynamic controller (ASMDC) is proposed to make the actual velocity of the WMR reach the velocity command even in presence o...

2017
Jie Huang Chen Chen Hao Fang Jie Chen

This paper focuses on the consensus problem of multiple high-order systems with uncertainties. Since it is difficult to use matrix theory approaches to design consensus controllers for a class of multiple high-order uncertain nonlinear systems, in this paper a set of consensus control laws are proposed by employing adaptive control theory and a backstepping technique. The distributed virtual co...

Journal: :Automatica 2000
Warren E. Dixon Zhong-Ping Jiang Darren M. Dawson

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In o...

2014
Messaoud Mokhtari Kheireddine Chara Noureddine Golea

An adaptive neural network backstepping control for a class of uncertain nonlinear systems is presented in this paper. Three main issues will be treated: (1) unknown nonlinearities; (2) unknown system parameters; (3) external or internal disturbances. The proposed technique is applied to a simple pendulum. This latter is an unstable system which is perfectly described by a nonlinear model obtai...

نمودار تعداد نتایج جستجو در هر سال

با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید