The position tracking control problem of permanent magnet synchronous motors with parameter uncertainties and load torque disturbance is addressed. Fuzzy logic systems are used to approximate nonlinearities and adaptive backstepping technique is employed to construct controllers. The proposed adaptive fuzzy controllers guarantee that the tracking error converges to a small neighborhood of the o...

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...

This paper presents a new fuzzy Lyapunov controller for nonholonomic mobile vehicles. A symbiosis between classical backstepping techniques and fuzzy logic was realized. The control system ensures a good robustness with respect to outside perturbations. These perturbations can interact with the vehicle. They are sources of uncertainty for the system model and can perturb the validity of the non...

In this paper a novel neural network (NN) backstepping controller is modified for application to an industrial motor drive system. A control system structure and NN tuning algorithms are presented that are shown to guarantee stability and performance of the closed-loop system. The NN backstepping controller is implemented on an actual motor drive system using a two-PC control system developed a...

In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping techn...

In this paper, we derive new results for backstepping controller design for the anti-synchronization of Arneodo chaotic system (1980). Backstepping control is a recursive procedure that combines the choice of a Lyapunov function with the design of a feedback controller. In anti-synchronization of chaotic systems, the states of the synchronized systems have the same absolute values, but opposite...

Abstract. This paper examines the synchronization performance of two widely used chaos synchronization techniques: active control and backstepping control. It is shown that the two methods have excellent performance, with the active control marginally outperforming the backstepping control in terms of transient analysis. However, the complexity of active controllers suggests that the backsteppi...

This paper deals with the design of a fault tolerant control (FTC) of a quadrotor aircraft system, considering the actuator faults. The attitude dynamic model of quadrotor, taking into account the various parameters which can affect the dynamics of this system in space is presented. Subsequently, based on robust adaptive-backstepping method and taking into account the actuator faults, a new FTC...

This paper presents boundary observer design for space and time dependent reaction-advection-diffusion equations using backstepping method. The method uses only a single measurement at the boundary of the systems. The existence of the observer kernel equation is proved using the method of successive approximation.