In this paper, an adaptive backstepping control system with a fuzzy integral action is proposed to control the mover position of a linear induction motor (LIM) drive. First, the indirect field oriented control LIM is derived. Then, an integral backstepping design for indirect field oriented control of LIM is proposed to compensate the uncertainties which occur in the control. Finally, the adapt...

This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptiv...

An adaptive fuzzy control method is developed to control chaos in the permanent magnet synchronous motor drive system via backstepping. Fuzzy logic systems are used to approximate unknown nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller can suppress the chaos of PMSM and track the reference signal successfully. The simulation r...

In this paper, an adaptive fuzzy backstepping control approach is developed for a class of nonlinear systems with unknown time delays and unmeasured states. By using fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy adaptive state observer is designed for estimating the unmeasured states. By combining the adaptive backstepping technique with adaptive fuzzy control desi...

Backstepping is one of the most promising advanced control laws developed for xed-wing Unmanned Aerial Vehicles (UAVs). Its nonlinearity combined with adaptation guarantees adequate performance over the whole ight envelope even when the aircraft model is not exact. In the literature, there are several attempts to apply a backstepping controller to aspects of xed-wing UAV ight. Few of them attem...

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...

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...

Two different dynamic inversion compensation schemes for control of nonlinear system with input backlash are presented; one in continuous time and one in discrete time. Both schemes use the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamics preinverse ...