This paper deals with the design of optimal backstepping controller, by using the chaotic particle swarm optimization (CPSO) algorithm to control of chaos in Lur’e like chaotic system. The backstepping method consists of parameters which could have positive values. The parameters are usually chosen optional by trial and error method. The controlled system provides different behaviors for differ...

In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance the degrade while swinging so to compensate it nonlinear observer based backstepping controller designed that can not only handle disturbance generated by but also capable tackle partial rotor failure and wind gust. Simulation study carried out considering (only for mode), gust, (for all three mod...

It is proposed a modification of the traditional adaptive backstepping method which leads to less control effort in the problem of non-linear control. The technique, which is applicable to parametric strict feedback systems, is built on a recently introduced Invariance Principle Extension and incorporates the use of optimisation techniques based on evolutionary computation to adjust the control...

We present an adaptive observer design for a first-order hyperbolic system of Partial Differential Equations with uncertain boundary parameters. The design relies on boundary measurements only, and is based on a backstepping approach. Using a Gradient Descent technique, we prove exponential convergence of the distributed system and estimation of the parameter. This method is applied to the esti...

The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly...

An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

Control robustness is study for uncertain nonlinear systems transformed in semi strict feedback systems. An adaptive backstepping sliding mode control and an adaptive backstepping control robustness is considered. Robustness is studied when the unknown parameter are constants and varied. The simulation results prove that the sliding mode control is more robust than the backstepping control to t...

This paper presents a discrete-time decentralized control strategy for trajectory tracking of a seven degrees of freedom (DOF) redundant robot. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed online using Kalman filtering. The m...

This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system’s stability. Computer simulation results demonstrate that the propose...

By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the con...