Many real-world systems are governed by the timedependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control algorithms for electric drives, DC motor has been selected for position tracking. Defining dynamic equations of the motor derived from the theory of nonlinea...

An adaptive fuzzy neural networks (FNN) output feedback control approach is proposed for a class of multi-input and multi-output (MIMO) pure-feedback nonlinear systems with unknown backlash-like hysteresis and immeasurable states. The state observers are designed to estimate the unmeasured states, the filtered signals are introduced to circumvent algebraic loop problem encountered in the implem...

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 ...

A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracki...

This paper addresses the problem of driving a surface vessel along a desired spatial path. A nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty. Controller design builds on Lyapunov based techniques and backstepping. The controller derived ...

Microgrids represent a new and flexible form of electrical networks. This form is based on the use of Distributed Generators which are connected to a microgrid through Voltage Source Inverters (VSI). In this paper, we propose a nonlinear controller that allows the regulation of the output voltage and frequency of a VSI. The system consists of a VSI and an LC filter associated to a coupling indu...

The problem of designing an improved nonlinear robust controller is addressed adopting three perspectives for static synchronous compensator (STATCOM) system in the presence of time-delay, uncertainty parameter and external disturbances. At first, in order to reduce high degree coupling between system state variables and estimation errors, uncertain parameter is estimated by using the system im...

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has ...

This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and ...

In this paper, we integrate nonlinear control and supervisory control theory to design a controller of a heating, ventilating and air conditioning (HVAC) system. First we design the nonlinear controllers by Lyapunov theory and backstepping. Then we create the discrete abstraction of this system and thus derive the discrete event system model from the continuous plant. Finally we design the supe...