This paper presents a variation on adaptive backstepping output feedback control design for uncertain minimum-phase linear systems. Unlike the traditional nonlinear design, the proposed control method is linear and Lyapunov-based without utilizing overparametrization, tuning functions, or nonlinear damping terms to address parameter estimation error. Local stability of the closed-loop system an...

In order to improve the design method of robust controller for ship course-keeping, a nonlinear controller design is presented by combining neural network (NN) approximator with adaptive Backstepping technology. The simulation research is carried out based on the training ship "Yu long" of Dalian Maritime University as an example. The results show that the control algorithm has good adaptabilit...

It is proposed a modification of the traditional adaptive backstepping method which leads to less control effort in the problem of non-linear control. The technique, which is applicable to parametric strict feedback systems, is built on a recently introduced Invariance Principle Extension and incorporates the use of optimisation techniques based on evolutionary computation to adjust the control...

We consider the stabilization for 1-D hyperbolic differential equations with boundary input including a nonlinear disturbance. The time varying extended state observer (ESO) is designed to estimate the disturbance. Based on the estimated disturbance, we obtain an explicit controller by applying the backstepping method. It is shown that the closed-loop system of the 1-D hyperbolic differential e...

We present an adaptive observer design for a first-order hyperbolic system of Partial Differential Equations with uncertain boundary parameters. The design relies on boundary measurements only, and is based on a backstepping approach. Using a Gradient Descent technique, we prove exponential convergence of the distributed system and estimation of the parameter. This method is applied to the esti...

This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. The smooth sliding controller can achieve ...

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...

Robust adaptive control of nonlinear systems with unknown state delay A robust dynamic inversion technique for asymptotic tracking control of an aircraft Non-linear control of variable-speed wind turbines with permanent magnet synchronous generators: a robust backstepping approach A new robust nonlinear control algorithm for the regulation of blood glucose in diabetic patients Robust backsteppi...