In this paper, a Luenberger-type boundary observer is presented for a class of distributed-parameter systems described by time-varying linear hyperbolic partial integro-differential equations. First, known limitations due to the minimum observation time for simple transport equations are restated for the considered class of systems. Then, the backstepping method is applied to determine the unkn...

The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy fun...

This paper presents an investigation into the design of a flight control system, using a robust backstepping control structure, designed using the two-time scale control procedure of the dynamic of a small-size autonomous helicopter in hover. The two-time scale controller takes advantage of the ‘decoupling’ of the translational and rotational dynamics of the rigid body, resulting in a two-level...

Flexible manipulators are extensively used in industries. In this paper, backstepping method (BM) is used to control flexible manipulator. BM consists of parameters which accept positive values. The parameters are usually chosen variously. The system responses differently for each value. In this method, some paremeters exist, which, if not defined well, may cause some performance degrade. It is...

The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly...

An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

In this paper, a nonlinear differential braking control method is developed to avoid collision during lane change under driver torque. The lateral dynamics consist of offset error and yaw can be interpreted as semi-strict feedback form. the problem torque, matching condition does not satisfy, system in form of, strict Thus, general backstepping cannot applied. To overcome problem, proposed desi...

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...

Control robustness is study for uncertain nonlinear systems transformed in semi strict feedback systems. An adaptive backstepping sliding mode control and an adaptive backstepping control robustness is considered. Robustness is studied when the unknown parameter are constants and varied. The simulation results prove that the sliding mode control is more robust than the backstepping control to t...

In this paper, we present a backstepping based fuzzy logic (FL) scheme for the active control of vehicle suspension systems using the two-degrees of freedom or 1/4 car model. The full dynamics of a novel hydraulic strut are considered. The servo-valve dynamics are also included. A fuzzy logic system is used to estimate the nonlinear hydraulic strut dynamics. The backstepping fuzzy logic scheme ...