This paper investigates the attitude tracking problem for rigid spacecraft. An adaptive backstepping sliding mode control law is proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The control scheme is developed by combining sliding mode control with adaptive backstepping technique to achieve fast and accurate tracking responses. The proposed cont...

This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping coincides with the predictor-based feedback law used in continuous-time systems with input delays. However, simple examples demonstrate that the sensitivity of th...

This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated Lyapunov functions. Firstly, we show that many chaotic systems as paradigms in the research of chaos can be transformed into a class of nonlinear systems in the so-called nonautonomous “strict-feedbac...

this paper investigates on control and stabilization of a new hyperchaotic system. the hyperchaotic system is stabilized using a new technique which called generalized backstepping method (gbm). because of its similarity to backstepping approach, this method is called gbm. but, this method is more applicable in comparison with conventional backstepping.  backstepping method is used only for sys...

In this paper, an adaptive backstepping control scheme is proposed to solve the surge motion tracking problem of autonomous undersea vehicle (AUV) with system constraint. First, initial rectification reference signal constructed for subsequent implementation deferred output constraint and making input smaller smoother in early stage operation. Second, a barrier Lyapunov function adopted develop...

For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fu...

an adaptive input-output linearization method for general nonlinear systems is developed without using states of the system. another key feature of this structure is the fact that, it does not need model of the system. in this scheme, neurolinearizer has few weights, so it is practical in adaptive situations.  online training of neurolinearizer is compared to model predictive recurrent training...

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

Backstepping is one of the most promising advanced control laws developed for xed-wing Unmanned Aerial Vehicles (UAVs). Its nonlinearity combined with adaptation guarantees adequate performance over the whole ight envelope even when the aircraft model is not exact. In the literature, there are several attempts to apply a backstepping controller to aspects of xed-wing UAV ight. Few of them attem...

Small unmanned four-rotor helicopter (four-rotor) is a kind of noncoaxial, multirotor, dished vehicle with vertical take off and landing (VTOL) ability. Due to the complexity, strong coupling and sensitivity effects on the environment of four-rotor’s dynamic model, the controller must have high quality of robust and adaptive. According to these requirements, a lot of control theory have been pr...