The ability of backstepping controllers to deal with nonlinearities make this technique a suitable candidate for the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). The authors have already proposed a comprehensive approach combining backstepping with PID controllers for simultaneous longitudinal and latero-directional control of fixed-wing UAVs, achieving good performance even wit...

An intelligent backstepping sliding-mode control system using radial basis function network (RBFN) for a two-axis motion control system using permanent magnet linear synchronous motors (PMLSMs) is proposed. First, single-axis motion dynamics with the introduction of a lumped uncertainty, including cross-coupled interference between the two-axis mechanism, is derived. Then, to improve the contro...

This paper proposes an adaptive sliding backstepping control law for quadcopter attitude control. By employing adaptive elements in the sliding mode control formulation the proposed control law avoids a priori knowledge of the upper bounds on the uncertainty. The controller we propose can be used for systems that are in strict feedback form with matched uncertainties. Numerical simulations show...

The paper presents a new method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control input. The proposed technique is applied to the stabilization problem of the dynamic system of a nonholonomic mobile robot. Simulation studies indicate that the methodology can also help alleviate the problem of chatter...

A nonlinear feedback path controller for a differential drive mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The control law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability...

The problem of course control for underactuated surface ship is addressed in this paper. Firstly, neural networks are adopted to determine the parameters of the unknown part of ideal virtual backstepping control, even the weight values of neural network are updated by adaptive technique. Then uniform stability for the convergence of course tracking errors has been proven through Lyapunov stabil...

This paper deals with the problem of suppression of stick-slip oscillations in oil well drill-strings. The backstepping technique is used to design two control schemes for the system. The first controller is a typical backstepping controller; the second controller is a sliding back-stepping controller. Moreover, a reduced order observer is proposed to estimate the unmeasurable states of the sys...

Abstract: This paper presents the backstepping nonlinear control applied to induction motor with on-line adaptation of rotor resistance using a backstepping observer type. This type of control proposed an analysis based primarily on the stability of the system from the Lyapunov theory. This approach takes into account the nonlinearity of the system when designing the control law. The effectiven...

A global robust output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally di eomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard outputfeedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are...