An adaptive fuzzy control scheme is studied in this paper for the directcurrent (DC) motor systems with dead-zone input. The fuzzy logic systems are used to approximate the unknown functions in DC motor and based on the information of the parameters on the dead-zone, an adaptive fuzzy control approach is developed via backstepping design technique. Compared with the existing works for DC motor,...

In this paper, we propose an adaptive control approach to deal with the problems of input saturation, external disturbances, and uncertainty in unmanned autonomous helicopter system. The dynamics system take into account presence uncertainty, disturbances. Auxiliary systems are built handle saturation. neural networks applied approximate uncertain terms. scheme combining integral backstepping s...

This paper addresses the issue of position control of a chain of multiple massspring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive ...

In this paper, an adaptive controller is investigated for a class of uncertain single-input-single-output nonlinear systems preceded by an unknown backlash-type hysteresis nonlinearity, which is modeled by a differential equation. Backstepping design procedure is employed to construct the control input and adaptation laws. A new algorithm is designed to reduce the computational burden compared ...

In this paper, robust adaptive tracking control is proposed for the underwater robot in the presence of parametric uncertainties and unknown external disturbances. Backstepping control of the system dynamics is introduced to develop full state feedback tracking control. Using parameter adaptation, backstepping control and variable structure based techniques, the robust adaptive tracking control...

In this article, the adaptive attitude-tracking problem of a rigid body is investigated, where input and output are transmitted via network. To reduce communication burden in network, quantizer introduced both uplink downlink channels. An backstepping-based control scheme developed for class multiple-input multiple-output (MIMO) systems. The proposed algorithm can overcome difficulty to proceed...

In this paper, we present a global adaptive output feedback control scheme for a class of uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. The allowed output feedback structure includes quadratic dependency of the unmeasured states and output-dependent nonlinearities appearing not only additively, but also multiplicatively. Our novel des...