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). The construction of the controller results in a chain of interconnected subsystems with ...

This paper proposes a novel hybrid control of induction motor, based on the combination of the direct torque control DTC and the backstepping one, optimized by Genetic Algorithm (GA). First the basic evolution of DTC is explained, where the torque and stator flux are controlled by non linear hysteresis controllers which cause large ripple in motor torque at steady state operation. A Backsteppin...

Transient stability problem for multi-machine infinite bus system with the generator excitation was addressed via the non-certainty equivalent nonlinear re-parameterization method. The system need not to be linearized. The damping coefficient uncertainty was considered. A non-certainty equivalent excitation controller and a novel parameter updating law were obtained simultaneously via adaptive ...

In this paper, we design an H∞ controller for a class of lower-triangular time-delay systems. Backstepping is applied to construct an explicit feedback controller, and the closed-loop system maintains internal stability and an L2-gain from the disturbance input to the output. The design is delay-dependent. Simulations on an example system demonstrate the good performance of the proposed design....

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Nu...

Solutions exist for the problem of canceling sinusoidal disturbances by the measurement of the state or by the measurement of an output for linear and nonlinear systems. In this paper, an adaptive backstepping controller is designed to cancel sinusoidal disturbances forcing an unknown linear time-invariant system in controllable canonical form which is augmented by a linear input subsystem with...

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...

Two integrator backstepping designs are presented for digitally controlled continuous-time plants in special form. The controller designs are based on the Euler approximate discrete-time model of the plant and the obtained control algorithms are novel. The two control laws yield, respectively, semiglobal-practical stabilization and global asymptotic stabilization of the Euler model. Both design...

We study the global asymptotic stabilization by output feedback for systems whose dynamics are in a feedback form where the nonlinear terms admit an incremental rate depending only on the measured output. The output feedback we consider is of the observer-controller type where the design of the controller follows from standard robust backstepping. As far as we know, the novelty is in the observ...

It is the intent of this paper to add to, and improve the existing design tools for nonlinear output feedback systems. Considered here are systems, exhibiting parametric uncertainty, and containing nonlinearities dependent on the output alone. A lower triangular state transformation is utilised, equivalent to that obtained via the traditional and recursive backstepping algorithm. Extra damping ...