Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed ...

A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic preinverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator ...

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...

An adaptive fuzzy neural networks (FNN) output feedback control approach is proposed for a class of multi-input and multi-output (MIMO) pure-feedback nonlinear systems with unknown backlash-like hysteresis and immeasurable states. The state observers are designed to estimate the unmeasured states, the filtered signals are introduced to circumvent algebraic loop problem encountered in the implem...

This paper compares in simulation six different nonlinear control laws for multi-axis control of a high performance aircraft. The control law approaches are fuzzy logic control, backstepping adaptive control, neural network augmented control, variable structure control, and indirect adaptive versions of Model Predictive Control and Dynamic Inversion. In addition, a more conventional scheduled d...

In this paper, we propose a sensorless backstepping control of induction motor (IM) associated with three levels neutral clamped (NPC) inverter. First, the backstepping approach is designed to steer the flux and speed variables to theirs references and to compensate the uncertainties. A Lyapunov theory is used and it demonstrates that the dynamic trajectories tracking are asymptotically stable....

Due to uncertainties exist in the applications of the a permanent magnet linear synchronous motor (PMLSM) servo drive which seriously influence the control performance, thus, an integral backstepping control system using adaptive recurrent neural network uncertainty observer (RNNUO) is proposed to increase the robustness of the PMLSM drive. First, the field-oriented mechanism is applied to form...

An adaptive backstepping controller is designed for the automatic landing of a fixed-wing aircraft. The backstepping control scheme is adopted by using the nonlinear six degree-of-freedom dynamics of the aircraft during the landing phase. The adaptive law is integrated along with the backstepping controller in order to estimate the aircraft modeling errors as well as the external disturbance. T...

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping ...

This paper proposes a fuzzy-identification-based adaptive control scheme for the chaotic dynamic systems using backstepping control approach, which is referenced as adaptive fuzzy backstepping control (AFBC). The proposed AFBC offers a design approach to drive the chaotic trajectory to track a desired trajectory, and it is comprised of a fuzzy backstepping controller and a robust controller. Th...