For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fu...

With increasing marine transportation and logistics, the ship autopilot has become much more important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship coursekeeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adaptive course-k...

The actuator time delay problem for a linear active suspension system using the theory of backstepping control design is examined in this study. Time-delay may arise in active suspension systems because of transport phenomenons, information processing, sensors or some mechanical reasons. Designing the controller without taking into account the actuator time delay may degrade the performance of ...

In this paper, a backstepping observer and an output feedback control law are designed for the stabilization of the one-phase Stefan Problem, which stands stand as an improvement of the recent full state feedback backstepping controller proposed in our previous contribution. The onephase Stefan Problem describes time evolution of a temperature profile in a solid-liquid material and its solid-li...

A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this method is to augment the (virtual) controls as states during each recursive step. As new dynamics are included in the design, the resulting controller is in ...

The certainty equivalence and polynomial approach, widely used for designing adaptive controllers, leads to “simple” adaptive control designs that guarantee stability, asymptotic error convergence, and robustness, but not necessarily good transient performance. Backstepping and tuning functions techniques, on the other hand, are used to design adaptive controllers that guarantee stability and g...

Abstract: Along with increasing marine transportation and logistics, the ship autopilot has become much important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship course-keeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adapt...

In this paper a nonlinear model of an underactuated quad rotor aerial robot is derived, based on Newton-Euler formalism, and backstepping based PID control strategy is implemented for the derived model. Model derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate actuation forces through modeling of aerodynamic coefficients and elec...

In this paper, an adaptive fuzzy tracking control approach is proposed for a class of single-inputsingle-output (SISO) nonlinear systems in which the unknown continuous functions may be nonlinearlyparameterized. During the controller design procedure, the fuzzy logic systems (FLS) in Mamdani type are applied to approximate the unknown continuous functions, and then, based on the minimal learnin...

In order to deal with the boost converter non minimum phase property and to solve the Sliding Mode Control (SMC) major problem (the chattering phenomenon), a new backstepping Sliding Mode Controller is developed. In this paper, a comparative study between the proposed controller and the (2-SMC)super twisting and the classical SMC is provided in order to evaluate each controller. Simulations and...