Different from the previous work for quadrotor which mostly discusses application of different controllers to quadrotor control under normal flight conditions, this paper introduces a new design strategy which considers fault tolerant capability of the quadrotor control problems. By utilizing Passive Fault Tolerant Control Systems (PFTCS) concept with backstepping control approach, the trajecto...

Robust nonlinear controller design with constraint on the poles' location of the linear part of closed-loop system is proposed. The design method is based on the integrator backstepping procedure and linear constrained ∞ H for nonlinear strictfeedback systems with disturbance also in strict-feedback form. The resulted closedloop system will be globally stable, while both local robustness and de...

For a class of MIMO nonaffine block nonlinear systems, a neural networkNNbased dynamic feedback backstepping control design method is proposed to solve the tracking problem. This problem is difficult to be dealt with in the control literature, mainly because the inverse controls of block nonaffine systems are not easy to resolve. To overcome this difficulty, dynamic feedback, backstepping desig...

This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...

M. Krstic Dept. Mechanical Engr. University of Maryland College Park, MD 20742 J. M. Protz and J. D. Paduano Massachusetts Institute of Technology Cambridge, MA 02139 P. V. Kokotovic Dept. Electr. & Comp. Engr. University of California Santa Barbara, CA 93106 Abstract. A new systematic method for nonlinear control design|backstepping|is applied to low-order compression system models. Backsteppi...

A systematic controller design and implementation for a matrix-converter-based induction motor drive system is proposed. A nonlinear adaptive backstepping controller is proposed to improve the speed and position responses of the induction motor system. By using the proposed adaptive backstepping controller, the system can track a time-varying speed command and a time-varying position command we...

The position tracking control problem of permanent magnet synchronous motors with parameter uncertainties and load torque disturbance is addressed. Fuzzy logic systems are used to approximate nonlinearities and adaptive backstepping technique is employed to construct controllers. The proposed adaptive fuzzy controllers guarantee that the tracking error converges to a small neighborhood of the o...

For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fu...

This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...

We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolves on a strongly-connected, yet, balanc...