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...

A novel Lyapunov function, which contains a concept of transfer function, was constructed to prove the rightness of a new kind of robust backstepping filter derivative control method. Meanwhile, the relationship between Lyapunov function and transfer function was established, which is an important concept that can be applied in a large family of control systems. Also, the backstepping design te...

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, we consider the L∞-bounded robust control problem for a class of nonlinear cascade systems with disturbances. Sufficient conditions are provided under which a hard bound is imposed on the system performance measure. The backstepping approach is used for controller design. Examples are provided to illustrate the method. Key-words. Nonlinear cascade systems, L∞ bound, robust contro...

In this paper, a novel one-step backstepping design scheme for an adaptive output feedback control of uncertain nonlinear system with a higher order relative degree and nonparametric uncertainties is proposed. The proposed method can design an output feedback based adaptive controller through a backstepping of only one step even when the controlled system has a higher order relative degree. Cop...

Backstepping Control Design and Its Applications to Vehicle Lateral Control in Automated Highway Systems by Chieh Chen Doctor of Philosophy in Engineering-Mechanical Engineering University of California at Berkeley Professor Masayoshi Tomizuka, Chair In this dissertation the e ort is to explore new aspects of recursive backstepping design methodology from both theoretical and application point ...

This paper presents a decentralized control scheme for the formation control of multiple electrically driven mobile robots based on artificial potential functions and backstepping control method. Backstepping control is used to extend the theoretical potential fields based formation control methods designed for mass-less kinematic agents to the case of fully actuated electrically driven mobile ...

We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a CLF obtained by backstepping. The second redesign is a simplification of the first, useful for high order systems. We also compare the stability margins of the two main versions of backstepping: cancelation a...

In this paper, the authors derive a Dirichlet boundary control law that stabilizes a reaction-diffusion equation (a more general one than what is usually understood by``heat equation'') with arbitrary number of unstable modes in open-loop. Although interesting in its own right, this result is not as important as the technique used, which, the authors claim, generalizes backstepping/feedback lin...