~~ This paper focuses on the problem of controlling DC-to-DC switched power converters of Buck type. The system nonlinear feature is coped with by resorting to the backstepping control approach. Both adaptive and nonadaptive versions are designed and shown to yield quite interesting tracking and robustness performances. A comparison study shows that backstepping nonlinear controllers perform as...

Backstepping is a nonlinear control design tool for underactuated systems. Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. In backstepping the system is ...

In this paper, we present a global adaptive output feedback control scheme for a class of 3rd-order uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. In contrast to the existing output feedback form, the allowed extended output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design techn...

This paper proposes a high-precision intelligent adaptive backstepping control system (HPIABCS) for the position control of permanent-magnet synchronous motor (PMSM) servo drive. The HPIABCS incorporates an ideal backstepping controller, a dynamic recurrent-fuzzy-wavelet-neural-network (DRFWNN) uncertainty observer and a robust H∞ controller. First, a backstepping position controller is designe...

This paper presents neural adaptive control methods for a class of nonlinear systems in the presence of actuator saturation. Backstepping technique is widely used for the control of nonlinear systems. By introducing alternative state variables and implementing state transformation, the system can be reformulated as output feedback of a canonical system, which ensures that the controllers can be...

In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x,y,z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order n...

A nonlinear adaptive controller for the quadrotor helicopter is proposed using backstepping technique mixed with neural networks. The backstepping strategy is used to achieve good tracking of desired translation positions and yaw angle while maintaining the stability of pitch and roll angles simultaneously. The knowledge of all physical parameters and the exact model of the quadrotor are not re...

This paper presents neural adaptive control methods for a class of nonlinear systems in the presence of actuator saturation. Backstepping technique is widely used for the control of nonlinear systems. By introducing alternative state variables and implementing state transformation, the system can be reformulated as output feedback of a canonical system, which ensures that the controllers can be...

This paper proposes a novel hybrid control of induction motor, based on the combination of the direct torque control DTC and the backstepping one, optimized by Genetic Algorithm (GA). First the basic evolution of DTC is explained, where the torque and stator flux are controlled by non linear hysteresis controllers which cause large ripple in motor torque at steady state operation. A Backsteppin...

In this paper, an adaptive fuzzy backstepping controller has been developed for the position tracking control of a permanent magnet synchronous motor (PMSM) drive. Fuzzy logic systems are used to approximate unknown nonlinearities appearing in the control law and an adaptive backstepping technique is employed to construct controller. To illustrate the performance of the proposed controller comp...