In this paper a trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly time varying oscillator is examined to control nonholonomic mobile robot based only its kinematics. Secondly backstepping procedure is proposed to include robot dynamics and servo loop. It is shown that overall multilevel controller is asymptotical...

The purpose of this paper is to show that a combination of a nonlinear controller for an UAV of quadrotor type and visual servoing for trajectories generation leads to better stability results in a perturbed environment. The quadrotor is an underactuated system and highly nonlinear, which induces some difficulties in the design of the controller and in particular the application of visual servo...

This paper addresses the problem of robust bottom following control for a flight-style autonomous underwater vehicle (AUV) with both delayed and saturated control surfaces by using a pair of rudders. First, the time-delayed dynamics of rudders is considered, which renders a high-order nonlinear dynamics analysis and design in the model-based backstepping controller by utilizing guidance errors;...

In this paper, a new controller is proposed by using backstepping method for the trajectory tracking problem of nonholonomic dynamic mobile robots with nonholonomic constraints under the condition that there is a distance between the mass center and the geometrical center and the distance is unknown. And an adaptive feedback controller is also proposed for the case that some kinematic parameter...

Abstract The problem of stabilization of vertical, lateral and longitudinal dynamics for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on a generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust cont...

The problem of stabilization of lateral and longitudinal positions for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on generic linear model which successfully describes the behaviour of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust adaptive controller for...

In this paper, the adaptive and non-adaptive nonlinear Backstepping control approach for a permanent magnet synchronous motor drive is discussed and analyzed. We present a Matlab&Simulink simulation and experimental results from a benchmark based on FPGA. The design of a controller for a nonlinear system where the state vector dimension is high, can often be a difficult task, if not impossible....

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...

In this paper, we consider linear dynamics subject to a distributed state-dependent delay and a pointwise input-delay. We propose a prediction-based controller which exponentially stabilizes the plant. The controller design is based on a backstepping approach where delays are reformulated as hyperbolic transport PDEs. Infinity-norm stability analysis of the corresponding closed-loop system is a...

In this paper we present a PID+ solution to the problem of relative translational and rotational tracking, using the concept of integrator backstepping. By using an integrator augmentation technique, we include integral effect in the controller to account for the unknown orbital perturbations. The controller solution utilizes the quaternion representation to achieve a shorter rotation path on c...