A novel adaptive nonlinear controller based on backstepping with integrator is proposed for motion control systems. Backstepping is a practical nonlinear control scheme based on Lyapunov design approach, which can therefore guarantee the convergence of the position tracking error to zero. We utilize the integral action in the backstepping to increase control action in the steady state against t...

This paper deals with the design of optimal backstepping controller, by using the chaotic particle swarm optimization (CPSO) algorithm to control of chaos in Lur’e like chaotic system. The backstepping method consists of parameters which could have positive values. The parameters are usually chosen optional by trial and error method. The controlled system provides different behaviors for differ...

The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly...

An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

Control robustness is study for uncertain nonlinear systems transformed in semi strict feedback systems. An adaptive backstepping sliding mode control and an adaptive backstepping control robustness is considered. Robustness is studied when the unknown parameter are constants and varied. The simulation results prove that the sliding mode control is more robust than the backstepping control to t...

In this paper, we present a backstepping based fuzzy logic (FL) scheme for the active control of vehicle suspension systems using the two-degrees of freedom or 1/4 car model. The full dynamics of a novel hydraulic strut are considered. The servo-valve dynamics are also included. A fuzzy logic system is used to estimate the nonlinear hydraulic strut dynamics. The backstepping fuzzy logic scheme ...

Abstract—In this paper, an intelligent backstepping controller, tuned using a chaotic particle swarm optimization (CPSO), is proposed to control of chaos in Genesio-Tesi chaotic system. Thebackstepping method consists of parameters with positive values. The parameters are usually chosen optional by trial and error method. The improper selection of the parameters leads to inappropriate responses...

The paper presents the design of a mini-UAV attitude controller using the backstepping method. Starting from the nonlinear dynamic equations of the mini-UAV, by using the backstepping method, the author of this paper obtained the expressions of the elevator, rudder and aileron deflections, which stabilize the UAV, at each moment, to the desired values of the attitude angles. The attitude contro...

This paper deals with the nonlinear control of a three-state continuous-stirred tank system (CSTR) using the backstepping technique. A nonlinear state transformation is introduced so that the backstepping technique could be utilized on the transformed system. The backstepping controller is first designed for the nominal CSTR system. Then an augmented backstepping control law is designed for the...

This paper presents a modified structure of the backstepping nonlinear control of the induction motor (IM) fitted with an adaptive backstepping speed observer. The control design is based on the backstepping technique complemented by the introduction of integral tracking errors action to improve its robustness. Unlike other research performed on backstepping control with integral action, the co...