A novel stable tracking control scheme with embedded biological neurons is developed for a class of mobile robots. Two individual biological neurons are embedded into the backstepping-based velocity controller to eliminate the sharp jumps of linear and angular velocities as the position tracking errors change suddenly. This control system includes a velocity controller and a torque controller. ...

The paper presents a new approach to design nonlinear controller for switched reluctance motors (SRMs) based on backstepping technique and artificial neuron network (ANN) in flux estimator. Backstepping with an ANN estimator will be applied controlling SRMs which have drive model. was trained off-line using backpropagation algorithm. stability of the closed control loop analyzed proved accrodin...

We pose and solve an \inverse optimal" adaptive tracking problem for nonlin-ear systems with unknown parameters. A controller is said to be inverse optimal when it minimizes a meaningful cost functional that incorporates integral penalty on the tracking error state and the control, as well as a terminal penalty on the parameter estimation error. The basis of our method is an adaptive tracking c...

Abstract: An adaptive neural network controller is proposed to deal with the end-effector tracking problem of manipulators with uncertainties. By employing the adaptive Jacobian scheme, neural networks, and backstepping technique, the torque controller can be obtained which is demonstrated to be stable by the Lyapunov approach. The updating laws for designed controller parameters are derived by...

An intelligent backstepping sliding-mode control system using radial basis function network (RBFN) for a two-axis motion control system using permanent magnet linear synchronous motors (PMLSMs) is proposed. First, single-axis motion dynamics with the introduction of a lumped uncertainty, including cross-coupled interference between the two-axis mechanism, is derived. Then, to improve the contro...

This paper proposes a predictor-based state feedback controller for multi-input linear time-invariant (LTI) systems with different time delays in each individual input channel. The controller is derived based on the backsteppingmethod. Since the conventional backstepping transformation is not applicable to the systems due to the differences among delays, a modified transformation is introduced....

Considering generator rotor and valve by external disturbances for turbine regulating system, the nonlinear large disturbance attenuation controller and parameter updating law of turbine speed governor system are designed using backstepping method. The controller not only considers transmission line parameter uncertainty, and has attenuated the influences of large external disturbances on syste...

This paper introduces a robust strategy for stabilizing complex industrial processes exemplified by a complex chemical reactor. The design uses a combination of backstepping methods and Lyapunov-based techniques for implementing a robust feedback controller. A model-reference-like virtual system is proposed to accomplish both asymptotic stability and satisfactory transient performance. The cont...

We design a controller for flow-induced vibrations of an infinite-band membrane, with flow running across the band and only above it, and with actuation only on the trailing edge of the membrane. Due to the infinite length of the membrane, the dynamics of the membrane in the spanwise direction are neglected, namely, we employ a one-dimensional (1D) model that focuses on streamwise vibrations. T...