This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

This paper presents a novel formulation of the flight dynamic equations that permits a rapid solution for the design of trajectory following autopilots for nonlinear aircraft dynamic models. A robust autopilot control structure is developed based on the combination of the good features the Nonlinear Dynamic Inversion (NDI) method, Integrator Backstepping method, Time Scale separation and Contro...

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). The construction of the controller results in a chain of interconnected subsystems with ...

-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...

The position tracking control of induction motors with parameter uncertainties and load torque disturbance is addressed. Neural networks are employed to approximate the nonlinearities and an adaptive backstepping technique is used to construct controllers. The proposed adaptive neural controllers guarantee that the tracking error converges into a small neighborhood of the origin. Compared with ...

The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control ...

In this paper, adaptive dynamic surface control (DSC) is developed for a class of pure-feedback nonlinear systems with unknown dead zone and perturbed uncertainties using neural networks. The explosion of complexity in traditional backstepping design is avoided by utilizing dynamic surface control and introducing integral-type Lyapunov function. It is proved that the proposed design method is a...

Promulgated by some with religious-like fervor, viewed with skepticism by others, adaptive control has for almost forty years been one of the most alluring, intriguing, and often misunderstood areas within the eld of automatic control. In truth, despite its present shortcomings fe.g., its failure to adequately address performance issuesg adaptive control has come quite a long way since rst conc...

In this paper the position control of a linear induction motor using adaptive fuzzy backstepping design with integral action is proposed. First, the indirect field oriented control for 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 fuzzy integral-backstepping co...