In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples th...

Backstepping is a technique developed for designing stabilizing controls for a special class of nonlinear dynamical systems. It is built from subsystems that radiate out from an irreducible system which can be stabilized using some other method. This method is based directly on the mathematical model of the examined system. It is developed by introducing new variables into it in a form dependin...

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...

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...

The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the ac...

The robust H∞ control problem for the generator excitation system with the damping coefficient uncertainty and external disturbances, is addressed. Storage functions of the control system are constructed based on modified adaptive backstepping sliding mode control method and Lyapunov method. A nonlinear robust H∞ controller and a parameter updating law are obtained simultaneously. The controlle...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

This paper deals with the problem of robust adaptive controller design for a class of Multi-Input and Multi-Output (MIMO) time delay uncertain systems based on backstepping method and fuzzy logical system (FLS). This problem aims at designing robust adaptive controller for all parameter uncertainties and time delay of MIMO system with backstepping method. This studied system consists of some su...

In this paper, optimization of the backstepping controller parameters in a grid-connected single-phase inverter is studied using Imperialist competitive algorithm (ICA), Genetic Algorithm (GA) and Particle swarm optimization (PSO) algorithm. The controller is developed for the system based on state-space averaged model. By selection of a suitable Lyapunov function, stability of the proposed con...

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 authors 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...