This paper presents a comparative study of four control strategies for a flexible joint space manipulator. The considered control strategies consist in the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All control methodologies are assessed in numerical simulations for endpoint p...

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). This paper also shows a comparison with a controller designed via Adaptive Backstepping ...

This paper is concerned with the global H∞ control problem for a class of switched nonlinear systems in lower triangular form under arbitrary switchings. A common Lyapunov function and a common smooth state feedback controller are constructed by backstepping such that the closedloop system is globally asymptotically stable under arbitrary switchings without disturbance input and has the prescri...

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 proposes a direct adaptive backstepping control scheme for a class of multi-input-multioutput nonlinear uncertain non-affine systems using output recurrent wavelet neural networks (ORWNNs), called DABCORWNN. The proposed ORWNN combines the advantages of wavelet-based neural network, fuzzy neural network (FNN), and output feedback layer. For the tracking of nonlinear non-affine system...

Anonlinearadaptive  ight control system is proposed using a backstepping and neural networks controller. The backstepping controller is used to stabilize all state variables simultaneouslywithout the two-timescale assumption that separates the fast dynamics, involvingthe angularrates of the aircraft, from the slow dynamics,which includes angle of attack, sideslip angle, and bank angle. It is a...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

The ability of backstepping controllers to deal with nonlinearities make this technique a suitable candidate for the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). The authors have already proposed a comprehensive approach combining backstepping with PID controllers for simultaneous longitudinal and latero-directional control of fixed-wing UAVs, achieving good performance even wit...