In this correspondence, Nussbaum gains are introduced in the backstepping design to obtain adaptive controllers for systems with unknown high-frequency gain. Two kinds of modified backstepping control design schemes are developed. It is shown that both schemes can give asymptotic tracking.

This paper presents a decentralized control scheme for the formation control of multiple electrically driven mobile robots based on artificial potential functions and backstepping control method. Backstepping control is used to extend the theoretical potential fields based formation control methods designed for mass-less kinematic agents to the case of fully actuated electrically driven mobile ...

This paper presents a new strategy to improve the performances of speed control of a Double-Fed Induction Machine (DFIM), whose stator and rotor windings are connected to a voltage inverter PWM (Pulse Width Modulation) independently. This work shows the robustness of the adaptive Backstepping control strategy applied to the DFIM. The main objective of this work is to stabilize the speed of the ...

In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infinite dimensional dynamic model of a single-link flexible manipulator is derived through the assumed modes method associated with Lagrange approach. For simplicity, a linearized system model would be analyzed and investigated for ...

In this paper, a novel one-step backstepping design scheme for an adaptive output feedback control of uncertain nonlinear system with a higher order relative degree and nonparametric uncertainties is proposed. The proposed method can design an output feedback based adaptive controller through a backstepping of only one step even when the controlled system has a higher order relative degree. Cop...

At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controller...

In this study of the nonlinear H∞-optimal control design for strict-feedback nonlinear systems our objective is to construct globally stabilizing control laws to match the optimal control law up to any desired order, and to be inverse optimal with respect to some computable cost functional. Our recursive construction of a cost functional and the corresponding solution to the Hamilton-Jacobi-Isa...

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 paper we present a new control structure to extract the maximum power of a wind energy conversion system based on the double fed induction generator (DFIG). The proposed algorithm combines the nonlinear Backstepping approach and the field orientation scheme applied to control the rotor side converter (RSC) and the grid side converter (GSC) of the DFIG. The proposed strategy is asymptot...

continuous stirred tank reactor (cstr) has particular importance in chemical industry. cstr has usually a nonlinear behavior which makes it difficult to control. the reactor has two parameters: the concentration and temperature of mixture both of which are uncertain. this case of cstr has large disturbance in domain. in order for disturbance rejection, a controller has to be designed. in this p...