Adaptive Backstepping Axial Position Tracking Control of Autonomous Undersea Vehicles with Deferred Output Constraint

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Adaptive Neural Position Tracking Control for Induction Motors via Backstepping

The position tracking control of induction motors with parameter uncertainties and load torque disturbance is addressed. Neural networks are employed to approximate the nonlinearities and an adaptive backstepping technique is used to construct controllers. The proposed adaptive neural controllers guarantee that the tracking error converges into a small neighborhood of the origin. Compared with ...

Position Control of an Unmanned Autonomous Helicopter Using Robust Backstepping

In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation result...

Tracking Control of Autonomous Underwater Vehicles

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Output feedback adaptive control of robot manipulators using observer backstepping