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...

This paper discussed the problem of trajectory tracking control for the nonholonomic mobile robot’s kinematic model with the angular speed of two actuated wheels as its control input. Based on the backstepping control algorithm, a sliding-mode variable structure switching function is designed, in order to improve the quality of motion control, fuzzy logic is used to adjust sliding-mode reaching...

Abstract: Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is stud...

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and ∞ H control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust ∞ H controller is designed to attenuate the effect of the residual approximatio...

In this paper, a class of uncertain chaotic systems preceded by unknown backlash nonlinearity is investigated. Combining backstepping technique with fuzzy neural network identifying, an adaptive backstepping fuzzy neural controller (ABFNC) for uncertain chaotic systems with unknown backlash is proposed. The proposed ABFNC system is comprised of a fuzzy neural network identifier (FNNI) and a rob...

in this paper we introduce a simple, computationally inxepentsive, adaptive recursive structure for enhancing bandpass signals highly corrupted by broad-band noise. this adaptive algorithm, enhancing input signals, enables us to estimate the center frequency and the bandwidth of the input signal. in addition, an important feature of the proposed structure is that the conventional bias existing ...

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping ...

Various types and techniques of on-line approximation have been used in feedback control of uncertain nonlinear systems. In many practical applications, saturation of the control input influences significantly the performance of adaptive and learning control systems. This article addresses the issue of control input saturation in on-line approximation based control of nonlinear systems. A modif...

Locally optimal backstepping is extended to output-feedback systemswith input disturbances and nonlinearities that depend only on the measured output. The constructive design blends worst-case "ltering with backstepping, and results in a disturbance attenuating dynamic output-feedback controller that achieves semiglobal inverse optimality and local near-optimality. 2001 Published by Elsevier Sc...