| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...

This paper presents an adaptive backstepping control method for trajectory tracking and stabilization of an omnidirectional wheeled mobile robot with parameter variations and uncertainties caused by friction and slip. The dynamic model of the robot with three independent driving omnidirectional wheels equally spaced at 120 degrees from one another is briefly introduced. With the dynamic model, ...

This paper considers the adaptive fuzzy robust control problem for a class of single-input and single-output (SISO) stochastic nonlinear systems in strict-feedback form. The systems under study possess unstructured uncertainties, unknown dead-zone, uncertain dynamics and unknown gain functions. In the controller design, fuzzy logic systems are adopted to approximate the unknown functions, and t...

A novel indirect adaptive backstepping control approach based on type-2 fuzzy system is developed for a class of nonlinear systems. This approach adopts type-2 fuzzy system instead of type-1 fuzzy system to approximate the unknown functions. With type-reduction, the type-2 fuzzy system is replaced by the average of two type-1 fuzzy systems. Ultimately, the adaptive laws, by means of backsteppin...

 This paper investigates on control and stabilization of a new hyperchaotic system. The hyperchaotic system is stabilized using a new technique which called Generalized Backstepping Method (GBM). Because of its similarity to Backstepping approach, this method is called GBM. But, this method is more applicable in comparison with conventional Backstepping.  Backstepping method is used only for sy...

The concept of fuzzy approximate disturbance decoupling is introduced for a class of MIMO nonlinear systems with unknown nonlinearities. Based on the backstepping technique, a direct adaptive fuzzy almost disturbance decoupling control scheme is proposed. The proposed fuzzy controllers guarantee internal uniform ultimate boundedness of the closed-loop adaptive systems and render a bounded appro...