This paper gives an overview of our recent progress on robust adaptive dynamic programming (for short, robust-ADP) for continuous-time dynamic systems with unknown system parameters or system order. First, a novel, computational adaptive control method based on robustADP is proposed for linear systems with completely unknown dynamics. Then, the robust-ADP for nonlinear systems, with the integra...

This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller based on backstepping technique is introduced to make the WMR follow a reference trajectory. Secondly, an adaptive sliding-mode dynamic controller (ASMDC) is proposed to make the actual velocity of the WMR reach the velocity command even in presence o...

An adaptive backstepping algorithm is developed for a class of uncertain systems in pure-feedback form. The control based on dynamic state feedback that allows to compensate parametric uncertainties which enter linearly into the system. As possible nominal case, extension just order one required, addition dynamics identifiers adaptation. regularity law only requires standard assumptions.

This paper presents a new strategy to improve the performances of speed control of a Double-Fed Induction Machine (DFIM), whose stator and rotor windings are connected to a voltage inverter PWM (Pulse Width Modulation) independently. This work shows the robustness of the adaptive Backstepping control strategy applied to the DFIM. The main objective of this work is to stabilize the speed of the ...

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...

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conver...

In this paper, a robust adaptive fuzzy backstepping control is developed for a class of strict-feedback canonical nonlinear systems. The systems may possess unknown functions, the nonlinear dynamic uncertainties and unmodeled dynamics. The fuzzy logic systems are used to approximate the unknown nonlinear functions and nonlinear damping terms are used to counteract the nonlinear dynamic uncertai...

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...

This paper proposes an adaptive backstepping control strategy for a class of uncertain non affine systems using self recurrent neural networks. To assure the stable tracking of nonlinear non affine system, it is first converted to an affine like form and subsequently a wavelet based adaptive backstepping controller is developed. Self recurrent wavelet neural network (SRWNN) is used to approxima...

This paper deals with the design of a fault tolerant control (FTC) of a quadrotor aircraft system, considering the actuator faults. The attitude dynamic model of quadrotor, taking into account the various parameters which can affect the dynamics of this system in space is presented. Subsequently, based on robust adaptive-backstepping method and taking into account the actuator faults, a new FTC...