The control performance of quadrotor unmanned aerial vehicles (UAVs) in complex environments can be affected by external disturbances and other factors. In this paper, an adaptive neural network backstepping controller based on the barrier Lyapunov function (BLF) is designed for a UAV with internal uncertainties, input–output constraints disturbances. Radial basis networks are used to approxima...

In this paper, robust adaptive neural network control is investigated for a class of multi-input-multi-output (MIMO) pure-feedback nonlinear system with unknown nonlinearities. The unknown nonlinearities could be come from unmodeled dynamics, modeling errors, or nonlinear time-varying uncertainties. Based on the backstepping design technique and the universal approximation property of the neura...

This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated Lyapunov functions. Firstly, we show that many chaotic systems as paradigms in the research of chaos can be transformed into a class of nonlinear systems in the so-called nonautonomous “strict-feedbac...

As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In tracking control IP, equilibrium point changes with pivot position pendulum. This makes theories have difficulties in realization for The underactuated feature feedback linearization unsuitable to simplify design. Wi...

An adaptive linearization scheme based on the exact model-matching (EMM) approach is proposed to compensate nonlinearity of high power amplifiers (HPAs). It is illustrated that the input-output property of the broadband amplifier system can be approximated by a memory polynomial model (MPM). Then, the compensation of HPA input is determined from the MPM in a real-time manner, and consequently, ...

This research proposes a robust nonlinear hybrid control approach to the speed of multi-input-and-multi-output separately excited DC motor (SEDCM). The that was under consideration experienced parametric uncertainties and load disturbances in weak field region. proposed technique aims merge benefits adaptive backstepping (AB) integral sliding mode (ISMC) enhance overall system’s robustness. unk...

In this paper, an adaptive attitude control algorithm is developed based on neural network for a satellite using four reaction wheels in a tetrahedron configuration. Then, an attitude control based on feedback linearization control is designed and uncertainties in the moment of inertia matrix and disturbances torque have been considered. In order to eliminate the effect of these uncertainties, ...

Compared with traditional aircraft, the near space hypersonic unmanned aerial vehicle control system design must deal with the extra prominent dynamics characters, which are differ from the traditional aircrafts control system design. A new robust adaptive control design method is proposed for one hypersonic unmanned aerial vehicle (HSUAV) uncertain MIMO nonaffine block control system by using ...

A wheeled mobile robot is subject to both holonomic and nonholonomic constraints. Representing the motion and constraint equations in the state space, this paper studies the feedback linearization of the dynamic system of a wheeled mobile robot. The main results of the paper are: (1) It is shown that the system is not input-state linearizable. (2) If the coordinates of a point on the wheel axis...