Abstract. An explicit output-feedback boundary feedback law is introduced that stabilizes an unstable linear constant-coefficient reaction-diffusion equation on an n-ball (which in 2-D reduces to a disk and in 3-D reduces to a sphere) using only measurements from the boundary. The backstepping method is used to design both the control law and a boundary observer. To apply backstepping the syste...

An adaptive backstepping controller is designed for the automatic landing of a fixed-wing aircraft. The backstepping control scheme is adopted by using the nonlinear six degree-of-freedom dynamics of the aircraft during the landing phase. The adaptive law is integrated along with the backstepping controller in order to estimate the aircraft modeling errors as well as the external disturbance. T...

This article aims to realize event-triggered constrained consensus tracking for high-order nonlinear multiagent networks subject full-state constraints. The main challenge of achieving such goals lies in the fact that standard designs [e.g., backstepping, control, and barrier Lyapunov functions (BLFs)] successfully developed low-order dynamics fail work dynamics. To tackle these issues, a novel...

This paper presents a wavelet neural network backstepping sliding mode controller (WNNBSSM) for permanentmagnet synchronous motor (PMSM) position servo control system. Backstepping sliding mode (BSSM) is utilized to guarantee favorable tracking performance and stability of the whole system, meanwhile, wavelet neural network (WNN) is used for approximating nonlinear uncertainties. The designed c...

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...

Abstract—In this paper, an intelligent backstepping controller, tuned using a chaotic particle swarm optimization (CPSO), is proposed to control of chaos in Genesio-Tesi chaotic system. Thebackstepping method consists of parameters with positive values. The parameters are usually chosen optional by trial and error method. The improper selection of the parameters leads to inappropriate responses...

| 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 addresses the problem of dynamic positioning of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. A nonlinear adaptive controller is proposed that yields convergence of the trajectories of the closed loop system to a desired target point in the presence of a constant unknown ocean current disturbance and parametric model uncertainty. The controller is firs...

This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of constant unknown ocean currents and parametric modeling uncertainty. A nonlinear adaptive controller is proposed that steers an AUV along a sequence of way-points consisting of desired positions (x, y) in a inertial reference frame, followed by...